Dynamic Event-Triggered Fixed-Time Consensus Analysis of Multi-Agent Systems Under Input Delays and Switching Topologies

This paper proposes a dynamic event-triggered control method for first-order multi-agent systems with input delays and disturbances under switching topologies. The controller design and its properties of dynamic event-triggered fixed-time consensus are presented in detail. Furthermore, agents can achieve consensus in a fixed time for any initial conditions and topologies that comply with the control protocol. Zeno behavior is avoided. Simulation examples demonstrate the effectiveness of the proposed algorithm and simulate scenarios in which the communication environment deteriorates due to external disturbances affecting the MASs.