Dynamic event-triggered-based tracking control for multiagent systems with predefined-time disturbance observer

This paper investigates the dynamic saturated threshold event-triggered tracking control problem for multiagent systems with predefined-time sliding mode disturbance observer. Firstly, a predefined-time sliding mode disturbance observer is designed to address the issue of external disturbance. Compared with traditional methods that use adaptive laws to solve disturbance, this paper proposes the method to reduce the number of design parameters, thereby reducing computational complexity and simplifying the adjustment process during simulation. The proposed method ensures that the disturbance error converges quickly within predefined time, thereby improving the efficiency of dynamic system control. Secondly, an event-triggered mechanism with dynamic saturated threshold is proposed to save limited communication resources and reduce the frequency of controller updates. Unlike traditional event-triggering mechanisms, this paper combines three existing event-triggering mechanisms and switches between them by adjusting a threshold parameter. Additionally, within a unified recursive strategy framework, different agents can adopt different event-triggered mechanisms, providing greater flexibility and adaptability for multiagent systems. Finally, the designed control scheme ensures that all closed-loop signals are bounded in predefined time, and the effectiveness of the proposed control strategy is verified through simulation examples.