Event-triggered prescribed-time consensus for nonholonomic multi-agent systems with external disturbances

Wangming Lu, Zhiyong Yu, Haijun Jiang and Da Huang

International Journal of Systems Science, 2024, vol. 55, issue 11, 2403-2418

Abstract: This paper considers the prescribed-time event-triggered consensus for a class of nonholonomic multi-agent systems (MASs) with external disturbances. Firstly, the nonholonomic chained MASs are divided into two subsystems, and a switching control scheme is introduced. Secondly, a distributed prescribed-time continuous protocol is proposed to ensure that all agents reach average consensus within a prescribed finite-time. Moreover, to reduce the communication costs, an event-triggered consensus protocol is further established and some related theorems are given. In addition, the Zeno behaviour can be excluded by choosing parameters appropriately. Finally, two numerical examples are presented to demonstrate the effectiveness of the proposed protocols.

Date: 2024
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DOI: 10.1080/00207721.2024.2344044

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