Prescribed Performance Leader-Following Consensus with Event-Based Broadcasting

Abstract

This paper develops a prescribed performance leader-following consensus protocol for directed networks under event-based broadcasting. Each node schedules its transmissions using only its current state and its last broadcast value, while followers use held neighbor and leader samples between broadcasts. To accommodate jumps in sampled neighborhood errors caused by asynchronous receptions, a decaying receiver-side performance correction term temporarily modifies the prescribed performance function. For a directed network containing a spanning tree rooted at a time-varying leader with bounded trajectory and derivative, we prove existence and uniqueness of complete non-Zeno solutions, boundedness of all closed-loop signals, and explicit prescribed bounds for the sampled and continuous neighborhood disagreements and the leader-following error. These bounds quantify the effects of the communication topology and broadcast thresholds. Simulations verify the prescribed performance bounds and illustrate the event-based communication mechanism.