Event-triggered Prescribed-time Time-varying Formation Tracking Control of Nonlinear Multi-agent Systems

This paper focuses on the event-triggered prescribed-time time-varying formation tracking problem of nonlinear multi-agent systems. Firstly, a triggering mechanism is proposed. Then, a new event-triggered prescribed-time protocol is constructed to achieve time-varying formation tracking control in the prescribed time. Furthermore, using Lyapunov stability theory, the stability of systems is proved in detail, which implies that the nonlinear multi-agent systems can achieve prescribed-time time-varying formation tracking control. Moreover, it proves the Zeno behavior can be avoided by choosing parameters appropriately. Finally, the theoretical results of this paper are verified through a numerical simulation example.