Fully Distributed Event-Triggered Consensus of Nonlinear Multiagent Systems: A Tunable Prescribed-Time Control Approach

Abstract

This article investigates fully distributed event-triggered prescribed-time consensus for a class of second-order nonlinear multiagent systems with disturbances. A tunable prescribed-time coefficient function (TPTCF) is introduced to generalize existing prescribed-time functions and provide additional flexibility for moderating the growth of the time-varying control gain. Based on the TPTCF, two event-triggered control strategies are developed to reduce unnecessary updates and improve resource utilization. The first strategy achieves prescribed-time consensus under a constrained leader velocity through a fully distributed protocol. The second strategy incorporates an event-triggered prescribed-time observer and removes the constraint on the leader. Moreover, the two strategies involve three dynamic threshold functions, two of which are used in the second strategy, to meet prescribed-time requirements. Fuzzy logic systems and adaptive techniques are employed to handle unknown nonlinearities and external disturbances. Finally, two numerical examples verify the effectiveness of the proposed methods.