Finite-time consensus for second-order leader-following multi-agent systems with external disturbances and internal nonlinear dynamics based on event-triggered pinning strategy

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.

Automated summary

The study evaluates the finite-time consensus problem for leader-following systems under external disturbances and internal nonlinear dynamics. It proposes a new model and control strategy, proving that the systems can achieve consensus in finite time while avoiding Zeno behavior of event-triggered controllers.