Fixed-time prescribed performance formation of second-order multi-agent systems with input saturation under dynamic event-triggered mechanism

This paper studies the collision-free and connectivity preservation formation control for input-saturated second-order multi-agent systems (MASs) with external disturbances and limited communication resources. The continuous fixed-time disturbance observer (FTDO) is proposed to accurately compensate the external disturbance. By integrating the barrier Lyapunov function (BLF) with the asymmetric fixed-time prescribed performance function, we ensure connectivity preservation and collision avoidance while achieving the desired transient and steady-state performance in relative distance errors. To counteract the negative effects of input saturation, a fixed-time auxiliary system is introduced. The fixed-time dynamic event-triggered prescribed performance formation is obtained by integrating the dynamic event-triggered mechanism (DETM) into the fixed-time backstepping design process. Finally, formation simulation verifies the effectiveness of the theoretical results.