Predefined-Time Consensus of Nonlinear Multi-Agent Input Delay/Dynamic Event-Triggered Under Switching Topology

The consensus control problem of multi-agent systems (MASs) is studied. Firstly, a predefined-time consensus control algorithm is proposed for nonlinear uncertain systems with the input delay and switching topology. Then, the problem of resource consumption is considered, a dynamic event-triggered predefined-time consensus control algorithm is presented by introducing internal dynamic variables, which can make the MASs achieve consensus in the preset time. The correctness of the algorithm is proved by algebraic graph theory and Lyapunov theory, and there is no Zeno behavior. Simulation comparison experiments verify the effectiveness and superiority of the proposed algorithm. Compared with the finite-time control algorithm, the convergence time of this algorithm is independent of the initial state. The upper bound of the system convergence time can be set by selecting a time parameter. Compared with the fixed-time control algorithm, the convergence time of this algorithm is independent of the controller parameters, only related to a single parameter, the setting is simple, and the estimated convergence time is less conservative. Compared with the static triggering mechanism, the dynamic triggering mechanism can avoid a large number of triggering.