Event-triggered H-infinity finite-time consensus control for nonlinear second-order multi-agent systems with disturbances

Yiping Luo,Wanling Zhu

doi:10.1186/s13662-021-03467-w

Abstract

The study considers the problem of finite-time event-triggered H-infinity consensus for second-order multi-agent systems (MASs) with intrinsic nonlinear dynamics and external bounded disturbances. Based on the designed triggering function, a distributed event-triggered control strategy is presented on the basis of the designed triggering function to ensure consensus in the system, which effectively reduces the data transmission. Then, sufficient conditions for the finite-time consensus with H-infinity performance level of the resulting event-triggered MAS are derived by utilizing the Lyapunov function and finite-time stability theory. Furthermore, Zeno behavior is proven to be excluded under the proposed event-triggered scheme. Finally, the validity of the proposed results is verified by numerical simulation.

Highlights

In recent years, multi-agent systems (MASs) have been widely applied in many practical fields, such as unmanned aerial vehicles (UAVs) [1, 2], collective control [3], sensor network [4], and multi-autonomous robot [5]
5 Conclusion Event-triggered finite-time H-infinity consensus has been studied for second-order multiagent nonlinear systems with external disturbances
A sufficient condition on finite-time consensus has been obtained by employing the Lyapunov method and analysis technology

Summary

Introduction

Multi-agent systems (MASs) have been widely applied in many practical fields, such as unmanned aerial vehicles (UAVs) [1, 2], collective control [3], sensor network [4], and multi-autonomous robot [5]. The aforementioned research results apply mainly to event-triggered firstorder MAS finite-time consensus control; some scholars are currently studying the consensus control of second-order MASs based on event-triggered strategies. Zhang [28] proposed a finite-time consensus problem for second-order MASs with external bounded disturbances. Ban et al [32] explored a first-order MAS with leader for the finite-time H-infinity consensus problem and introduced a nonlinear finite-time H-infinity tracking control protocol These works focused on first-order systems, while the authors of [33] examined a class of second-order MASs with a distributed H-infinity composite spinning consensus problem. To the best of our knowledge, the problem of event-triggered H-infinity finite-time consensus of nonlinear second-order MASs with disturbance is rarely studied, which is the main motivation of the study.

Problem description

Conclusion