Fixed-time Active Disturbance Rejection Consensus Tracking Control of A Multi-Agent System via Event-Triggered Mechanism

A fixed-time active disturbance rejection control (FTADRC) consensus tracking strategy is proposed for a class of non-affine nonlinear multi-agent systems with an event-trigger-based communication. Non-affine followers are transformed into affine ones by combining the implicit function theorem with the mean value theorem. A distributed event-triggered estimator is introduced based on its neighbor output information. It is for estimation of a leader’s signal for parts of followers, who are not able to access the leader signal in a direct manner. A distributed FTADRC control strategy is then developed via an event-triggered communication in the framework of backstepping technology. With the help of the fixed-time control, the settling time of an MAS is assignable and independent on initial conditions. Extended state observers and tracking differentiators are employed to compensate unknown dynamics of each follower in real time and estimate derivatives of virtual control laws, respectively. It is proven theoretically that the MAS achieves input-to-state practically stability and the consensus tracking error converges to a neighborhood around the origin in a fixed time. Also, Zeno behavior is excluded. Finally, two examples are performed to illustrate the effectiveness of the proposed strategy.