Theoretical study demonstrates event-triggered prescribed-time consensus in disturbed nonholonomic multi-agent systems, indicating reduced communication costs without Zeno behavior.
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.
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Lu et al. (2024) studied this question.
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