Global finite-time event-triggered consensus for a class of second-order multi-agent systems with the power of positive odd rational number and quantized control inputs

Abstract

In this paper, we mainly investigate the global finite-time event-triggered consensus problem for a class of second-order multi-agent systems with the power of positive odd rational number and quantized control inputs under directed network topology. Under an appropriate assumption, a novel finite-time event-triggered consensus protocol is proposed to reduce the communication burden from the controller to the actuator. Based on the backstepping method, a synthetic trigger function is derived, and it is proven theoretically that the Zeno behavior is avoided for each agent under this trigger condition. Moreover, to avoid the chattering phenomenon caused by unknown input disturbances, the hysteretic quantizers are incorporated to quantize the input signals. It is shown that the proposed finite-time event-triggered consensus protocol enables the local neighbor position error, and the velocity error between any two agents converges toward a small range of the origin in a finite time. Finally, the proposed method is validated through a numerical example.