This study focuses on the fixed-time event-triggered time-varying formation tracking issue for a class of nonlinear multi-agent systems with multi-dimensional dynamics, uncertain disturbances and non-zero control input of leader. Firstly, a distributed fixed-time event-triggered control scheme is proposed such that the time-varying formation tracking can be achieved with intermittent controller updates and intermittent communication. To reduce the chattering phenomenon, a novel control protocol with saturation function is designed. It should be noted that continuous triggering condition monitoring is needed in the triggering mechanism. To address above issue, a novel triggering mechanism is further proposed. Moreover, the fixed-time event-triggered time-varying formation containment with multiple leaders is considered. It is verified that the Zeno behavior can be excluded. Finally, two examples are presented to demonstrate the feasibility of the main theoretical findings.

本研究针对一类具有多维动力学，不确定扰动和前导非零控制输入的非线性多智能体系统，研究了固定时间事件触发的时变编队跟踪问题。首先，提出了一种分布式的固定时间事件触发控制方案，使得可以通过间歇性的控制器更新和间歇性的通信来实现随时间变化的编队跟踪。为了减少颤振现象，设计了一种具有饱和功能的新型控制协议。应当注意，在触发机构中需要连续的触发条件监视。为了解决上述问题，进一步提出了一种新颖的触发机制。此外，考虑了具有多个领导者的固定时间事件触发的时变编队遏制。验证可以排除芝诺行为。最后，给出两个例子来说明主要理论发现的可行性。