Event-triggered adaptive predefined-time consensus for multi-agent systems under switching topologies.

Authors

Zhiheng Dong, Shuang Shi, Quan Ouyang, Ju Jiang

Published in

ISA transactions. Aug 20, 2026. Epub Aug 20, 2026.

Abstract

This paper investigates event-triggered predefined-time (PT) consensus control for leader-follower multi-agent systems subject to input saturation and prescribed performance constraints in the presence of unknown disturbances. Under switching topologies, the proposed protocol guarantees consensus of all agents within a user-defined time while ensuring the tracking error satisfies prescribed-performance constraints. A PT auxiliary signal is incorporated to mitigate input saturation, enabling adaptive compensation for saturation errors. Besides, a distributed estimator is developed for robust coordination, reconstructing the required tracking errors for each agent even under incomplete leader-follower communication. Furthermore, adaptive control is developed to approximate the unknown disturbance and a dynamic event-triggered mechanism is deployed to reduce controller updates. Finally, simulations are conducted to validate the feasibility and superiority of the proposed method.

PMID:
42648979
Bibliographic data and abstract were imported from PubMed on 27 Aug 2026.

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