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

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  • Control Theory and Applications
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Abstract

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.

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Authors and Affiliations

  1. School of Aeronautics, Northwestern Polytechnical University, 127 West Youyi Road, Xi’an, 710072, China

    An Zhang, Ding Zhou, Pan Yang & Mi Yang

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  1. An Zhang
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  2. Ding Zhou
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Corresponding author

Correspondence to Ding Zhou.

Additional information

Recommended by Associate Editor M. Chadli under the direction of Editor Myo Taeg Lim. The work of this paper is supported by the National Natural Science Foundation of China (Grant No. 61573283).

An Zhang received his M.S. degree in systems engineering in 1986 and his Ph.D. degree in control theory and control engineering from the Northwestern Polytechnical University of China, Xi’an in 1999. He is currently a full-time Professor of control engineering with Northwestern Polytechnical University, Xi’an. He has authored or co-authored 31 refereed papers in journals and international conference proceedings. His current research interests include multi-agent systems, nonlinear control systems, intelligent control, and UAV control.

Ding Zhou received his B.S. and M.S. degrees in control engineering from Northwestern Polytechnical University of China, Xi’an in 2017. He is currently pursuing a Ph.D. degree in control theory at Northwestern Polytechnical University. His current research interests include multi-agent systems, formation control of UAV.

Pan Yang received her B.S degree in electrical engineering and automation from Northwestern Polytechnical University of China, Xi’an in 2017. She is currently pursuing a Ph.D degree in control theory at Northwestern Polytechnical University, Xi’an. Her current research interests include UAV swarms, coverage control.

Mi Yang received her B.S. degree in safety engineering from Northwestern Polytechnical University of China, Xi’an in 2017. She is currently pursuing a Ph.D. degree in control theory at Northwestern Polytechnical University, Xi’an, China. Her current research interests include formation control.

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Zhang, A., Zhou, D., Yang, P. et al. Event-triggered Finite-time Consensus with Fully Continuous Communication Free for Second-order Multi-agent Systems. Int. J. Control Autom. Syst. 17, 836–846 (2019). https://doi.org/10.1007/s12555-018-0666-9

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  • DOI: https://doi.org/10.1007/s12555-018-0666-9

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