Fixed-Time Bipartite Average Tracking for Nonlinear Multiagent Systems via Event-Triggered Approach

This paper investigates the distributed event-triggered fixed-time bipartite average tracking problem for multi-agent systems(MASs) with nonlinear dynamics. Different from the finite-time algorithm, fixed-time consensus strategy is independent of the initial conditions of the system. Firstly, based on our proposed fixed-time bipartite consensus controller, the event-triggered mechanism is introduced to reduce the update frequency of the controller. Secondly, a controller with saturation function is designed to mitigate the chatting phenomenon of the control input. Drawing on the fixed-time control theorem and Lyapunov theory, the sufficient conditions for achieving fixed-time bipartite consensus under the event-triggered strategy are derived, and a strictly positive lower bound of the inter-event is provided to demonstrate that the Zeno behavior is avoided. Moreover, the fixed-time bipartite average tracking problem under denial-of-service (DoS) attacks is investigated, where the attack model is characterized by the average non-attack rate. Finally, to verify the validity of the theoretical results, numerical examples are presented for illustration.