Prescribed-time event-triggered control of multi-agent systems based on continuous scaling function

Abstract

In this paper, a novel prescribed-time event-triggered control of multi-agent systems is proposed. In literature, most prescribed-time control protocols are designed by using discontinuous scaling functions, which essentially lead to sudden change of the control outputs. This sudden change may deteriorate the performance of the system and damage the actuators. Different from the existing work, we first propose a method to construct the continuous scaling function. Then, the event-triggered consensus control protocol is designed based on the proposed scaling function. The stability of the multi-agent system is analyzed based on Lyapunov method, by using which the control parameters are determined according to the predefined settling time and consensus bound. Compared to the controller with discontinuous scaling functions, our method demonstrates faster convergence and produces smoother, less control effort.