基于事件触发机制的多智能体系统固定时间二分一致性OA

A distributed control strategy based on a dynamic event-triggered mechanism was designed for the fixed-time bipartite consensus problem of nonlinear multi-agent systems under communication constraints with input delay and external disturbances.By employing an internal dynamic variable to adjust the triggering rule,communication transmissions and control updates were activated only when necessary,thereby improving resource utilization efficiency.Based on signed graph theory,fixed-time stability theory,and Lyapunov stability analysis,the closed-loop system is proved to achieve bipartite consensus within a fixed time,and an upper bound of the settling time independent of the initial conditions is obtained.In addition,the designed mechanism is shown to exclude Zeno behavior.Simulation results verify the effectiveness of the proposed scheme.