Event-triggered Impulsive Containment Control for Fixed-Time Consensus of a Class of Heterogeneous Multi-Agent System with Disturbances

This paper studies the fixed-time containment consensus (FTCC) of a class of nonlinear heterogeneous multi-agent systems (NHMASs) with disturbances. A reference model-based event-triggered impulsive control (ETIC) mechanism is devised to realize the FTCC of NHMASs. The impulsive controller is performed only at the triggering instant, which can substantially decrease energy consumption. Then, some sufficient conditions are presented to guarantee that the NHMASs with multiple leaders can reach consensus within fixed time in the case of that agents’ dynamics are different and high order. It is proved that Zeno behavior can be excluded. Finally, a simulation example is provided to verify the feasibility of the derived results.