Prescribed Performance Control for Double-Integrator Multi-Agent Systems: A Unified Event- Triggered Consensus Framework

In this paper, we address the event-triggered consensus problem for double-integrator multi-agent systems with prescribed performance. First, we propose a unified event-triggered consensus framework that accommodates various performance specifications. Within this framework, we present a novel nonlinear control protocol that operates at intermittent time instants, utilizing relative positions and absolute velocities. These time instants are determined by a delicately designed edge-based event-triggering mechanism, while guaranteeing the prescribed performance specifications on relative positions. Furthermore, we extend the control protocol to encompass the guaranteed performance specifications for both relative positions and relative velocities. To eliminate the need for continuous monitoring of neighboring agents’ states, a unified self-triggered consensus framework with guaranteed performance is developed. With the proposed triggering mechanisms, no agent exhibits Zeno behavior. Finally, we validate the effectiveness of the proposed control protocols through an illustrative example.