|Event-triggered Finite-time Consensus with Fully Continuous Communication Free for Second-order Multi-agent Systems
An Zhang, Ding Zhou*, Pan Yang, and Mi Yang
International Journal of Control, Automation, and Systems, vol. 17, no. 4, pp.836-846, 2019
Abstract : "This study deals with finite-time consensus problems of second-order multi-agent systems with intrinsic
nonlinear dynamics and external bounded disturbances. First, instead of the time-triggered control algorithm, the
event-triggered control algorithm is developed by using integral sliding mode control strategy. Then, a triggering
function is explicitly constructed to generate event sequences, and the triggering function is fully continuous communication
free. Rigorous proof is given by using Lyapunov stability theory and finite-time stability theory. Several
conditions are derived to guarantee the finite-time consensus and exclude Zeno behavior. Finally, a simulation of
single-link robotic arms is given to verify the effectiveness of the results."
Disturbances, event-triggered control, finite-time consensus, integral sliding mode, nonlinear dynamics.