Robust Fixed-Time Event-Triggered Control for Multi-Group Leader–Follower Consensus Using State-Dependent Variable Exponents
摘要
This paper investigates the problem of distributed multi-group average consensus in a leader–follower framework using a robust fixed-time event-triggered control(FxTETC) approach. Fixed-time stability (FxTS) analysis has been done by introducing state-dependent variable exponents (SDVE) into the convergence structure. Unlike conventional fixed-time methods that rely on constant exponents, the proposed SDVE-based approach allows the convergence rate to adapt dynamically based on the system state, thereby reducing the number of parameters also computational complexity. The agents are divided into multiple groups, each achieving intra-group consensus while tracking distinct reference trajectories. A complex number-based communication topology facilitates structured intra- and inter-group coordination. To ensure fixed-time convergence under model uncertainties and disturbances, fully distributed event-triggered sliding mode controllers are designed using nonlinear sliding manifolds. A novel event-triggering mechanism reduces communication burden without compromising stability. The event-triggering mechanism reduces communication events by up to 55% compared to a periodic switching scheme, without compromising stability, and guarantees group-wise consensus within a fixed time. The proposed fixed-time control law requires no global information and ensures convergence to group-wise consensus within fixed time, while a positive lower bound on inter-event intervals eliminates Zeno behavior. Simulation results confirm improved convergence speed, robustness, and communication efficiency.