Prescribed-time Event-triggered Consensus for Multi-agent Systems under Directed Graphs

This paper studies the prescribed-time consensus problem of multi-agent systems under directed graphs via event-triggered control. With the aid of a time-varying scaling function, distributed triggering conditions without continuous communication are firstly designed for each agent. The prescribed-time consensus of multi-agent systems is proved by the Lyapunov stability theory and the algebraic graph theory. Moreover, an improved triggering condition independent of the initial state values is proposed, which also results in preset convergence time. Zeno behavior is excluded for any time except the settling time. Finally, simulation results are given to verify the effectiveness of the proposed methods.