In this study, wireless sensor networks and time base generators are used to solve the fixed-time containment control problem in multi-agent systems with fixed topologies. A new event-triggered control protocol is proposed, which combines a fully distributed method and a time base generator (TBG). The goal is to converge the states of all followers to the convex hull formed by the leader. The controller reduces communication and improves control efficiency by integrating a fully distributed control mechanism using wireless sensor networks. In addition, a time base generator (TBG) is added to ensure that the dwell time continues to be pre-specified and independent of initial conditions. Using matrix theory, the original system is transformed into an error system, and its stability is analyzed by the Lyapunov method. The necessary and sufficient conditions for solving the time consensus containment control problem in multi-agent systems are determined and Zeno behavior is avoided. The effectiveness of the proposed control algorithm is illustrated by numerical examples.

In this study, a nonlinear second-order multi-agent systems containment control method based on compensator is discussed. In order to deal with nonlinear systems with inherent time delay, a new compensator-based control algorithm is proposed. The fully distributed compensator is designed to effectively converge the states of all followers to the convex hull formed by the states of leaders. By introducing a compensator, the errors in the system can be corrected and the influence of time delay on the system can be compensated to ensure that the system can achieve the desired performance and stability. Then, the original system is transformed into an error system by using matrix theory, and the stability of the error system is analyzed by using Lyapunov method, and the sufficient conditions for the solvability of the control problem are obtained. Finally, the effectiveness of the control algorithm is verified by matlab simulation.