Distributed Fixed-Time Triggering-Based Containment Control for Networked Nonlinear Agents Under Directed Graphs

TLDR: A distributed chattering-free self-triggered control strategy is accordingly designed that the unnecessary resource utilizations of computation, communication as well as control updates can be saved while sustaining the desired control properties and excluding the Zeno behavior.

Abstract: This paper discusses the distributed fixed-time containment control for networked nonlinear systems via the event/self-triggered approaches over directed graphs. A distributed event-triggered control protocol without continuous control updates is first proposed. In order to relieve the chattering effect, a modified distributed event-triggered control law is developed. To further overcome the drawback of continuous state monitoring and reduce the communication frequency between neighboring agents, a distributed chattering-free self-triggered control strategy is accordingly designed. A favorable aspect of our work is that the unnecessary resource utilizations of computation, communication as well as control updates can be saved while sustaining the desired control properties and excluding the Zeno behavior. Another distinct feature of this paper lies in that the containment control objective is realized in fixed time and the estimate of settling time can be prescribed without dependence on initial states of networked agents. Finally, some simulation results are provided to illustrate the effectiveness of the theoretical control schemes.