This study focuses on the fixed-time event-triggered leader-following consensus issue for nonlinear multi-agent system with uncertain disturbances. First, two distributed fixed-time controllers based on event-triggered mechanism are put forward to address this issue. Different from the existing finite-time control techniques, the proposed controller can guarantee that the settling time does not depend on the initial conditions and the continuous controller updates cannot be required. Moreover, compared with the existing fixed-time control methods, the fixed-time event-triggered tracking problem for multi-dimensional nonlinear multi-agent system with uncertain disturbances is considered for the first time in this paper. To avoid continuous communication among agents, a novel triggering mechanism is further proposed. Furthermore, the fixed-time event-triggered containment consensus with multiple leaders is considered. No agent exhibits the Zeno behavior in these two consensus issues. The effectiveness of main theoretical findings is demonstrated by two illustrative examples finally.

本研究关注具有不确定扰动的非线性多主体系统的固定时间事件触发的领导者遵循共识问题。首先，提出了两种基于事件触发机制的分布式固定时间控制器。与现有的有限时间控制技术不同，所提出的控制器可以保证建立时间不取决于初始条件，并且不需要连续的控制器更新。此外，与现有的固定时间控制方法相比，本文首次考虑了具有不确定干扰的多维非线性多Agent系统的固定时间事件触发跟踪问题。为了避免代理之间的连续通信，进一步提出了一种新颖的触发机制。此外，考虑与多个领导者进行固定时间事件触发的遏制共识。在这两个共识问题中，没有代理商表现出芝诺行为。最后通过两个说明性例子证明了主要理论发现的有效性。