Event-Triggered Prescribed-Time Consensus for Multi-Agent Systems via Fully Distributed Strategy

This paper studies the prescribed-time consensus control for first-order multi-agent systems with undirected graph. In order to reduce the communication and computation resources, event-triggered communication is considered. To solve the event-triggered prescribed-time consensus problem, we design a node-based event-triggered controller whose coupling weights are updated based on an adaptive mechanism. Moreover, a state transformation is considered, and by analysing the prescribed-time stability of the transformed state, both the prescribed-time consensus and the boundness of controller are proved. Note that, with the adaptive updating mechanism, the parameters in the controller and the event-triggering condition do not depend on global information. Thus the proposed controller is fully distributed. Besides, the exclusion of the Zeno behavior is proved for the whole time except the preset settling time. Finally, a numerical simulation is given to validate the effectiveness of the proposed controller.