自动化学报2026，Vol.52Issue(3)：555-577,23.DOI:10.16383/j.aas.c250304
非线性多智能体系统的动态事件触发固定时间一致性控制
Dynamic Event-triggered Fixed-time Consensus Control for Nonlinear Multi-agent Systems
摘要
Abstract
This paper investigates the fixed-time consensus problem for nonlinear multi-agent systems under bounded disturbances and a fixed communication topology.Addressing the challenges in existing event-triggered control methods,such as convergence time dependence on initial conditions,low triggering reliability under disturb-ances,and lack of theoretical basis for control parameter design,a dynamic event-triggered fixed-time consensus control method is proposed.Firstly,a fixed-time controller integrating nonlinear gain and disturbance compensa-tion is designed,which uses hyperbolic tangent functions instead of sign functions to eliminate chattering and achieve smooth control signals,ensuring the upper bound of convergence time is strictly independent of initial states.Secondly,an event-triggered mechanism based on adaptive dynamic variables is constructed,significantly re-ducing communication frequency and rigorously excluding Zeno behavior.Furthermore,through the construction of a novel Lyapunov stability analysis framework,explicit expressions for the upper bound of convergence time and the lower bound of event-triggered interval are derived.Simulation results demonstrate that the proposed method ensures fixed-time convergence performance while effectively achieving optimization and improvement of communic-ation efficiency.关键词
多智能体系统/动态事件触发控制/固定时间一致性/非线性动力学/扰动抑制Key words
multi-agent systems/dynamic event-triggered control/fixed-time consensus/nonlinear dynamics/dis-turbance rejection引用本文复制引用
邵蝉云,安爱民,徐承承,刘向航,李二超..非线性多智能体系统的动态事件触发固定时间一致性控制[J].自动化学报,2026,52(3):555-577,23.基金项目
国家自然科学基金(61563032,61963025,62203196,62463018),甘肃省科技计划(22YF7GA164,22CX8GA131,22CX3GD005)资助Supported by National Natural Science Foundation of China(61563032,61963025,62203196,62463018)and Gansu Provincial Science and Technology Program(22YF7GA164,22CX8GA131,22CX3GD005) （61563032,61963025,62203196,62463018）
