A Unified Finite/Fixed-Time Consensus Scheme With Triggering-Based Updates

This article explores a unified distributed cooperative control protocol, which is constructed to solve consensus seeking with desired convergence properties, two nonlinear functions included in the controller are designed to determine the control directions and performances, respectively. Some basic and intrinsic properties of these functions are initially analyzed and refined. By unified framework, we mean that different controller functions can be constructed through some necessary and common properties to achieve desired control requirements. Next, event-triggered and self-triggered control strategies based on finite/fixed-time convergence are explored under the proposed framework with three typical scenarios. Last, numerical simulations are provided to show the validity of the proposed control framework.