Predefined-Time Consensus of Nonlinear Multi-Agent Input Delay/Dynamic Event-Triggered Under Switching Topology

The consensus control problem of multi-agent systems (MASs) is studied. Firstly, a predefined-time algorithm proposed for nonlinear uncertain with the input delay and switching topology. Then, resource consumption considered, dynamic event-triggered presented by introducing internal variables, which can make MASs achieve in preset time. correctness proved algebraic graph theory Lyapunov theory, there no Zeno behavior. Simulation comparison experiments verify effectiveness superiority algorithm. Compared finite-time algorithm, convergence time this independent initial state. upper bound system be set selecting parameter. fixed-time controller parameters, only related to single parameter, setting simple, estimated less conservative. static triggering mechanism, mechanism avoid large number triggering.