Distributed Fixed-Time Event-Triggered Cluster Consensus for Nonlinear Multi-Agent Systems

This paper deals with the cluster consensus problem of nonlinear multi-agent systems (MASs) under the directed communication topology. Firstly, a fixed-time control algorithm is proposed to achieve consensus within a settling time regardless of the initial conditions. Secondly, based on the fixed-time protocol, a distributed dynamic event-triggered mechanic is further developed to reduce the frequency of the controller update. In addition, Zeno-behavior is excluded by calculating the positive lower bound of the inter-event intervals. Finally, a simulation of Chua's circuit is given to verify the effectiveness and superiority of the proposed control scheme.