JOURNAL OF SHANDONG UNIVERSITY(NATURAL SCIENCE) ›› 2026, Vol. 61 ›› Issue (3): 111-123.doi: 10.6040/j.issn.1671-9352.0.2024.029

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Dynamic event-triggered practical fixed-time consensus for second-order linear multi-agent systems

WANG Chuanhao, LI Zonggang*, NING Xiaogang, CHEN Yinjuan   

  1. 1. School of Mechanical and Electrical Engineering, Lanzhou Jiaotong University, Lanzhou 730070, Gansu, China;
    2. Institute of Robotics, Lanzhou Jiaotong University, Lanzhou 730070, Gansu, China
  • Published:2026-03-18

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Abstract: Aiming at the problem that the second-order linear multi-agent systems event-triggered actual fixed-time consensus mostly adopts static triggering conditions, with too many triggering times and high system energy consumption, two dynamic event-triggered actual fixed-time consensus control protocols are proposed. Based on the controller with tracking error and hyperbolic tangent function, a continuous communication consensus control protocol is proposed. The internal dynamic variables adjusted by the relative state of the agent in real time are introduced in the event triggering condition, and the trigger threshold of the agent is adjusted in real time. The intermittent communication consensus control protocol uses the information of the agent trigger time to avoid continuous communication between agents. It is verified that under the two control protocols, the system can achieve the actual fixed-time consistency, and avoid the problems that the convergence time is limited by the initial state of the agent and the Zeno behavior. The simulation results show that compared with the existing static event-triggered scheme, the proposed dynamic event-triggered scheme reduces the number of triggers of the agent, thereby reducing the energy loss of the system, and is more suitable for the actual system with limited communication computing resources.

Key words: second-order linear multi-agent system, dynamic event trigger, trigger threshold, starting state, practical fixed-time consensus

CLC Number: 

  • TP273
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