Dynamic event-triggered fixed-time average consensus for general linear multi-agent systems under switching topologies

This article studies the practical fixed-time average consensus problem of general linear multi-agent systems under switching topologies. First, a distributed fixed-time consensus control protocol based on dynamic event-triggered mechanism is designed by using the local information exchange between neighboring agents. The protocol introduces an internal dynamic variable and the triggering condition changes in real time based on the dynamic variable obtained online, which can significantly reduce the number of triggering events and effectively decrease the energy consumption of the multi-agent system. Then, the sufficient conditions for the multi-agent system to solve the practical fixed-time average consensus problem are given, and it is proved that there is no Zeno behavior in the system. Furthermore, a self-triggered control scheme is proposed such that the neighboring agents communicate with each other only when one of them is triggered. In other words, this scheme does not require continuous communication between neighboring agents and thus reduces communication cost of the system. Finally, the simulation results verify the effectiveness of the proposed method.