In this work, a fixed-time leader-following event-triggered (ET) consensus problem for multi-agent systems (MASs) with external disturbances is investigated. A distributed observer is developed to achieve the estimated state of the leader. By means of the observation information, the consensus error system for multi-agents is reformulated into a tracking error system, wherein individual follower agent aims to track the leader agent. Building upon Lyapunov technology and fixed-time stability theory, a new ET protocol is introduced to mitigate communication wastes. Notably, the proposed controller incorporates a strong robust fixed-time control form with lower complexity, and a reliable dynamic triggering condition also ensures the excellent performance of the system. Rigorous demonstrations underscore the stability and robustness of the ET method, while guaranteeing the avoidance of Zeno behavior. Finally, several numerical simulations are provided to underscore the efficacy of the proposed protocols.

Cheng Ge

Ling Ma

Shoulin Xu

Actuators

ACTUATORS (ISSN 2076-0825; CODEN: ACTUC3) 是关于执行器和控制系统科学和技术的国际开放获取期刊，由 MDPI 每季度在线出版。

Actuators (ISSN 2076-0825; CODEN: ACTUC3) is an international open-access journal that focuses on the science and technology of actuators and control systems, published online quarterly by MDPI.

《Actuators》（ISSN 2076-0825；CODEN: ACTUC3）是一本国际开放获取期刊，专注于执行器和控制系统的科学与技术，由MDPI每季度在线出版。

Distributed Fixed-Time Leader-Following Consensus for Multi-Agent Systems: An Event-Triggered Mechanism

This work investigates a fixed-time leader-following event-triggered event-triggered (ET) consensus problem for multi-agent systems (MASs) with external disturbances, and introduces a new ET protocol to mitigate communication wastes.

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Distributed Fixed-Time Leader-Following Consensus for Multi-Agent Systems: An Event-Triggered Mechanism

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INSTRUMENTS & INSTRUMENTATION	2