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This paper is concerned with event-triggered bounded consensus tracking for a class of second-order nonlinear multi-agent systems with uncertainties (MASs). Remarkably, the considered MASs allow multiple uncertainties, including unknown control coefficients, parameterized unknown nonlinearities, uncertain external disturbances, and the leader's control input being unknown. In this context, a new estimate-based adaptive control protocol with a triggering mechanism is proposed. We rule out Zeno behavior by testifying that the lower bound on the interval between two consecutive events is positive. It is shown that under the designed protocol, all signals caused by the closed-loop systems are bounded globally uniformly and tracking errors ultimately converge to a bounded set. The effectiveness of the devised control protocol is demonstrated through a simulation example. [ABSTRACT FROM AUTHOR]

This paper researches the fixed-time leader-following consensus problem for nonlinear multi-agent systems (MASs) affected by unknown disturbances under the jointly connected graph. In order to achieve control goal, this paper designs a fixed-time consensus protocol, which can offset the unknown disturbances and the nonlinear item under the jointly connected graph, simultaneously. In this paper, the states of multiple followers can converge to the state of the leader within a fixed time regardless of the initial conditions rather than just converging to a small neighborhood near the leader state. Finally, a simulation example is given to illustrate the theoretical result. [ABSTRACT FROM AUTHOR]