Finite-Time Event-triggered Consensus of Nonlinear Heterogeneous Multi-agent Systems

In this paper, we peruse finite-time consensus of nonlinear heterogeneous multi-agent systems (MASs) under the circumstances of uncertainty and disturbance using event-triggered control and sliding-mode control (SMC). The approach is based on two kinds of agents (first-order and second- order nonlinear agents). We propose centralized and distributed event-based schemes in two different parts. First, we propose a centralized scheme that is robust against uncertainties and reduces the controllers knowledge about the state of agents for updating the control laws. Second, we present a robust and distributed scheme, under which each agent by monitoring the state of itself and neighboring agents determines when the whole of the agents should update their inputs. Theoretical verification of the results by simulation are also presented.