Dynamic switching event-triggered fixed-time cooperative control for nonlinear multi-agent systems subject to non-affine faults

In this article, the cooperative control for nonlinear multi-agent systems (NMSs) subject to non-affine faults is investigated under directed graphs. A new distributed fixed-time event-triggered control protocol is proposed based on the leader–follower communication architecture, which saves network resources effectively and avoids Zeno behavior. A novel dynamic switching event-triggered mechanism (DSEM) is presented for each follower to ensure the smooth switching of two dynamic threshold strategies, and a dynamic internal trigger variable is designed based on the control input signals and errors, which can dynamically adjust the update frequency of the controller to reduce the number of system triggers. A new DSEM fixed-time distributed controller is designed based on local information to guarantee that all signals of the closed-loop system are fixed-time bounded. It is also proved that the consensus tracking errors of NMSs can converge to an explicitly given bound independent of the initial state in a fixed time. Finally, the validity of the presented control strategy is illustrated by two simulation examples.