Finite‐time consensus for second‐order leader‐following multi‐agent systems with external disturbances and internal nonlinear dynamics based on event‐triggered pinning strategy
Yiping Luo, Xitong Gao, Jinde Cao, Ardak Kashkynbayev · International Journal of Robust and Nonlinear Control · 2022
Abstract The finite‐time consensus problem for leader‐following systems was evaluated under external disturbances and internal nonlinear dynamics. A model with nonlinear dynamics and external disturbances was proposed to make the systems more realistic. The event‐triggered pinning control strategy was used in second‐order multiagent systems to address the problem of the agents' continuous communication. A new event‐triggered control function was designed, and a finite‐time controller was constructed using an integral sliding‐mode algorithm. The systems can be proven to achieve consensus in the expected convergence time, which can be obtained using finite‐time and Lyapunov stability theories. Moreover, the Zeno behavior can be proven to avoid event‐triggered controllers. Finally, a numerical example was presented to illustrate the effectiveness and accuracy of the theoretical analysis.