Observer-based prescribed performance consensus protocol: Finite-time dynamic event-triggered schemes

In this paper, a novel observer-based prescribed performance finite-time dynamic event-triggered consensus controller is investigated for multi-agent systems with external disturbances, actuator faults, model uncertainties, and limited communication. Different from existing dynamic event-triggered control schemes, here a dynamic event-triggered strategy that can be applied to multiple communication channels simultaneously is proposed, which further extends the advantages of event-triggered control. In this context, three issues are the main research directions of this paper. First, a controller that does not need to be constantly updated according to the real-time estimate of the disturbance is designed. Second, a controller that guarantees the tracking errors remain in a prescribed region without continuous updates is proposed. Third, a dynamic triggering condition that will not fail under the background of the actual engineering period sampling is proposed. Simulation results illustrate the effectiveness of the proposed methods.