Event-triggered Finite-time Consensus with Fully Continuous Communication Free for Second-order Multi-agent Systems

  • An Zhang
  • Ding ZhouEmail author
  • Pan Yang
  • Mi Yang
Regular Papers Control Theory and Applications


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 


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Copyright information

© ICROS, KIEE and Springer 2019

Authors and Affiliations

  1. 1.School of AeronauticsNorthwestern Polytechnical UniversityXi’anChina

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