Event-driven predefined-time practical consensus for multi-agent systems

In this work, we explore the predefined-time practical consensus problem for integrator-type multi-agent systems by event-driven control. Based on a time base generator (TBG), a new type of event-driven control inputs and event-driven conditions are proposed for each agent, which are more general than the existing results. Under such control scheme, the agents are able to reach practical consensus at a completely predefined time. We provide the predefined-time practical consensus analysis of the closed-loop system by introducing a novel Lyapunov-based sufficient condition for predefined-time stability proposed in this paper. Furthermore, we give the proof of Zeno-freeness for each time instant. Lastly, a numerical example is presented to demonstrate the reliability of the derived results.