Abstract
We present a novel finite-time average consensus protocol based on event-triggered control strategy for multiagent systems. The system stability is proved. The lower bound of the interevent time is obtained to guarantee that there is no Zeno behavior. Moreover, the upper bound of the convergence time is obtained. The relationship between the convergence time and protocol parameter with initial state is analyzed. Lastly, simulations are conducted to verify the effectiveness of the results.
Highlights
In recent years, many applications required a lot of vehicles or robots to work cooperatively and accomplish a complicated task
Multiagent consensus refers to the design of a proper consensus protocol based on the local information of each agent such that all agents can reach an agreement with regard to certain quantities of interest [ ]
The main contributions of this paper can be summarized as follows: ( ) a new finite-time consensus protocol based on the event-triggered control strategy for multiagent systems is presented, and the system stability is proved
Summary
Many applications required a lot of vehicles or robots to work cooperatively and accomplish a complicated task. The main contributions of this paper can be summarized as follows: ( ) a new finite-time consensus protocol based on the event-triggered control strategy for multiagent systems is presented, and the system stability is proved. The protocol based on event-triggered control utilized to solve the finite-time average consensus problem is n ui(t) = aij sign xj(τs) – xi(τs) xj(τs) – xi(τs) α, t ∈ [τs, τs+ ), j=. Remark Note that if we set α = in protocol ( ), the finite-time nonlinear eventtriggered control strategy becomes the typical event-triggered linear consensus protocol studied in [ ]. The event-triggered linear consensus protocol can only make agents achieve consensus asymptotically, whereas the proposed consensus protocol in this paper can solve the consensus problem in finite time. The above conclusions were obtained based on the upper bound of convergence time in equation ( )
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