Dynamic Event-triggered Predefined-time Scale Consensus of Multi-agent Systems

For the leader-follower nonlinear multi-agent systems with disturbances under switching topologies， we propose a predefined-time scale consensus protocol based on dynamic event-triggered mechanism which can efficiently reduce system energy consumption and controller update frequency. The proposed protocol achieves scale consensus between agents within a predefined time by introducing proportional parameters on the positional states. We prove the correctness of the protocol and that there is no Zeno behaviour by leveraging algebraic graph theory， matrix inequalities， and Lyapunov stability theory. Compared with the fixed-time control protocol， the convergence time upper bound of this protocol is independent of controller parameters and is only related to a single time parameter， which is simple to set up and the predicted convergence time is less conservative. Finally， the simulation experiments illustrate the effectiveness and feasibility of the proposed control protocol.