Finite-Time Consensus for Linear Multiagent Systems via Event-Triggered Strategy Without Continuous Communication

摘要

Taking into account multiagent systems with general linear dynamics and directed topologies, the issue of achieving finite-time consensus in a distributed event-triggered fashion is discussed in this paper. A novel model-based triggering function, which depends only on local information, is adopted. To ensure the finite-time convergence of the disagreement vector and the triggering error, a dynamic threshold, which is guaranteed to converge to zero in finite time, is adopted in the proposed triggering function design. By employing a novel distributed event-triggered controller for each agent, finite-time consensus of multiagent systems can be achieved. In the proposed approach, no continuous communication is needed in either controller updates or triggering detection. Furthermore, the triggering number is significantly reduced and the high frequency triggering is restrained. In addition, the feasibility of the proposed approach is guaranteed by the comprehensive theoretical demonstration of the finite-time consensus stability and the analysis of the Zeno behavior. Finally, numerical simulations are carried out to illustrate the effectiveness of our results.