Time-varying dynamic event-triggered-based prescribed-time leader-following consensus for multi-agent systems with input saturation

This paper is concerned with prescribed-time leader-following consensus tracking for multi-agent systems subject to input saturation and limited resources under directed topology. A time-varying dynamic event-triggered-based prescribed-time approach is proposed to realize the consensus tracking in preset time. First, a novel dynamic event-triggered mechanism based on time-varying parameter is designed to further reduce actuator losses and computational resource usage. Second, a bounded protocol based on prescribed-time is proposed to ensure consensus tracking of the controlled system within the preset time, while keeping the control input within the saturation threshold. Third, the expression of the minimum inter-event time is derived based on the special properties of the parametric Lyapunov equation. The derived expression exhibits a straightforward and clear relationship with the system matrix, and no Zeno phenomenon occurs in the closed-system. Finally, the validity of the design method is verified by several inverted pendulum systems.