Event-Based Predefined-Time Second-Order Practical Consensus With Application to Connected Automated Vehicles

In this study, an event-based control strategy is proposed for second-order disturbed multi-agent systems (MASs) to achieve predefined-time practical consensus. In comparison to the finite/fixed-time control, the predefined-time consensus (PTC) control can be achieved in a completely pre-specified time. For the predefined-time second-order practical consensus, the global information of the system is not required to calculate the estimate of the convergence time, including the initial states and communication topology. In addition, the singular problem and the communication loop problem are also avoided. Moreover, an event-based control strategy is developed to obtain the predefined-time second-order practical consensus, which can effectively reduce the operating frequency and wear of actuator under the predefined-time convergence. Furthermore, the control input and the measurement error are designed by utilizing the hyperbolic tangent function, then the non-differential problem and Zeno behavior can be excluded. Finally, an example of connected automated vehicles is given to validate the effectiveness of our results.