Event-triggered Predefined-time Practical Consensus for Multi-agent Systems Under Directed Graph
In this paper,we study the predefined-time practical consensus problem for multi-agent systems under di-rected graphs based on event-triggered control.An event-triggered control input based on a time-varying function is firstly proposed for each agent,and a suitable dynamic triggering condition is constructed so that the system can achieve practical consensus at a completely predefined time.A sufficient condition for the predefined-time stability based on the Lyapunov function is proposed in this paper,with the help of which the analysis of the multi-agent system predefined-time practical consensus is given.In addition,this paper rigorously excludes Zeno behavior over the whole time interval from theory.Finally,a numerical simulation example is given to verify the correctness and validity of the results of this paper.
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维普
