Predefined-Time Event-Triggered Distributed Constrained Optimization Over Multiagent Networks via Auxiliary System

In this paper, an auxiliary system method is proposed to address the predefined-time distributed constrained optimization with an event-triggered mechanism, which is applied to target monitoring in multi-robot systems. For multi-robot target monitoring, coupled equality and inequality constraints are handled simultaneously, and a predefined-time event-triggered algorithm with a time-based generator is proposed. Furthermore, the given algorithm eliminates the Zeno behavior by proving that the time interval length between two adjacent triggering instants is greater than a positive constant. Finally, a numerical example with simulations is provided to substantiate the effectiveness of the obtained results.