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Abstract:
In this article, event-triggered attitude consensus is considered for multiagent systems with guaranteed fixed-time convergence. Due to the non-Euclidean property of the attitude configuration space, the attitude consensus is more challenging to achieve under the sampled-data setting. An event-triggered attitude consensus protocol and event-triggered condition are proposed based on the axis–angle attitude representation. The fixed-time attitude consensus is reached if the initial attitudes lie in local regions on the attitude configuration space. The theoretical results reveal that the settling time is related to the interevent interval and the algebraic connectivity of the topology graph. We further consider the consensus protocol under a jointly connected graph, and establish the settling time estimation that depends on the switching instants. Numerical simulations are conducted to verify the validity of the theoretical results finally.
