Fixed-Time Event-Triggered Time-Varying Formation Control for Second-Order Multi-agent Systems Under Directed Topologies

This paper presents a novel event-triggered fixed-time framework for addressing the problem of time-varying formation tracking control (TVFTC) in multi-agent systems (MASs) with directed topologies (DTs). A fixed-time observer is firstly employed to provide precise estimation of the leader’s states within a fixed time (FT) for each follower under DTs. Subsequently, a fixed-time event-triggered control mechanism (FTETCM) is proposed to reduce computation burden. Finally, by combining the fixed-time observer and FTETCM, a new TVFTC scheme is designed to address the problem of TVFTC under DTs.