Trigger Time Research Articles

3.4 μm mid-infrared pulse train laser based on stepped acousto-optic <i>Q</i>-switched external cavity pumped MgO:PPLN optical parametric oscillator

3.4 μm mid-infrared pulse train laser generates the characteristic spectral lines of absorption peaks of CH<sub>4</sub>, NO<sub>2</sub> and other molecules. Its pulse train working mode can increase the signal-to-noise ratio of laser detection echo signal. It has broad application prospects in radar detection, environmental monitoring, spectral analysis and other fields, which has aroused great interest of scientists. Compared with the traditional intra-cavity control method, the step <i>Q</i>-switching method has the advantages of simple structure, high energy utilization rate and accurate control. Therefore, in this paper, both the theoretical study and the experimental study of a 3.4 μm mid-infrared pulse train laser pumped by a step-type acousto-optic <i>Q</i>-switched external cavity in MgO:PPLN optical parametric oscillator are carried out. The theoretical model of fundamental frequency step acousto-optic <i>Q</i>-switching is established. The change trends of photon number density at different step intervals are simulated. The optimal trigger time of step signal required for step acousto-optic <i>Q</i>-switching is obtained. The possibility of obtaining pulse train laser output by step acousto-optic <i>Q</i>-switching is determined. In the simulation, the single pulse envelope contains 3 sub-pulse train waveforms. The pulse width of the sub-pulse in the pulse envelope gradually increases, the sub-pulse interval is 5 μs, and the pulse envelope repetition frequency is 20 kHz. At the same time, the optimal trigger times for the step signal are obtained to be 16.00, 21.00, 26.00, 50.00 μs. The mid-infrared pulse train laser experiment of step acousto-optic <i>Q</i>-switched external cavity pumped MgO:PPLN optical parametric oscillator is carried out, and the 3.4 μm mid-infrared pulse train laser output containing three sub-pulses in a single pulse envelope is obtained. The sub-pulse interval is 5 μs, the narrowest pulse width is 12.8 ns, and the pulse envelope repetition frequency is 20 kHz, when the maximum average output power is 1.08 W, the maximum optical-to-optical conversion efficiency of 1064 nm fundamental light and 3.4 μm parametric light is 10.05%, and the beam quality factor <inline-formula><tex-math id="Z-20240205221930">\begin{document}$M^2$\end{document}</tex-math><alternatives><graphic xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="4-20231348_Z-20240205221930.jpg"/><graphic xmlns:xlink="http://www.w3.org/1999/xlink" xlink:href="4-20231348_Z-20240205221930.png"/></alternatives></inline-formula> is 2.01. The output position of the sub pulses in each repetition period in the experiment is basically consistent with the simulation result, and it is found in both simulation and experiment that the width of the sub pulses within each pulse envelope gradually increases. The experimental results show that 3.4 μm mid-infrared pulse train laser output can be obtained by using step AOQS combined with OPO. This innovative method provides theoretical and technical support for detecting atmospheric pollutant concentration by using mid-infrared pulse train laser.

Adaptive dynamic event-triggered cluster consensus for second-order delayed MASs with input saturation

In this paper, the cluster consensus problem of second-order multi-agent systems (SOMASs) is investigated in which cooperative-competitive interactions among agents, input time delay, and input saturation are involved simultaneously. A novel adaptive dynamic event-triggered control (ETC) protocol is first designed to realize cluster consensus. Since the constant in static trigger condition is replaced by a dynamic parameter, the new control scheme can reduce the trigger times and save energy consumption. Then, switching topology problem of heterogeneous multi-agent systems (MASs) is also discussed based on the dynamic ETC strategy. Some sufficient conditions for achieving the cluster consensus of SOMASs are proposed by utilizing the Lyapunov stability theory and algebraic graph theory. Especially, to solve the saturation problem, Lagrange mean value theorem is adopted. Moreover, it is also proved that no Zeno behavior occurs under the proposed control protocol. Finally, two examples justify the significance of our theoretical results.

Stabilization and destabilization of impulsive Markovian switching systems via periodic stochastic controls and impulsive controls

AbstractGiven an unstable (or stable) impulsive Markovian switching system (IMSS), can it be stabilized (or destabilized) by noise? This problem has not been studied. In view of this question, this article will establish the noise stabilization and destabilization strategies of IMSS, and also study the impulsive control realized by adjusting the impulse intensity. It is worth noting that the impulse jump is the random impulse whose jump value depends on the mode, and the noise stabilization and destabilization are realized by periodic stochastic control based on Lévy noise. In order to establish these new results, we use the time‐inhomogeneous property of coefficients of the controlled system and the ergodicity of discrete‐time Markov chains based on impulse trigger time. In addition, the periodic stochastic control on diffusion and jump terms can be applied to design intermittent stochastic control.

Self-triggered fixed-time bipartite fault-tolerant consensus for nonlinear multiagent systems with function constraints on states

This article presents a self-triggered bipartite fault-tolerant consensus control scheme in a fixed-time stability sense for multiagent systems (MASs) with function constraints on states. Neural networks are introduced to identify unknown nonlinearities, thereby relaxing constraints on unknown functions. Then, based on time-varying barrier Lyapunov functions including time and previous states, all states of the considered MASs are constrained to given ranges. In addition, to improve the utilization of system transmission resources, a self-triggered control method in which the next triggering time can be computed according to the current information of the controller is proposed. By applying the Lyapunov theory, the designed self-triggered controller can ensure that all signals containing consensus tracking errors are fixed-time bounded under a given communication topology, and the Zeno phenomenon is successfully avoided. Finally, a practical example is provided to testify the feasibility of the developed control scheme.

Multilevel variable control for impulse-discharge thermochemical truing of diamond cutting edges in precision grinding

Precision grinding depends on the diamond cutting edges with good protrusion uniformity that are acquired by impulse-discharge thermochemical truing. However, the impulse-discharge thermal is unstable due to the uncertain discharge gap derived from irregularly changed grain top heights, leading to random diamond thermochemical removal. Under the uncertainty, a multilevel fuzzy-based control of kinematic and electrical variables is proposed to stabilize the impulse-discharge power during truing. The objective is to realize the cooperation of impulse-discharge, thermochemical and mechanical processes for diamond truing effect trace. First, the impulse-discharge signal was collected to acquire the transfer functions of impulse-discharge power. Then, an on-site experiment with small sample was processed to determine the discharge voltage sensitivities of kinematic and electrical variations. In order to improve the control performance, the control process with fuzzy logic was modeled to tune the output ratios of kinematic and electrical variations by particle swarm algorithm. Finally, the designed controller was experimentally applied to the impulse-discharge thermochemical truing, followed with dry plunge grinding of hardened steel. It is shown that the kinematic and electrical variables for the uncertainty compensation are linearly related to the spark-discharge voltage. Accordingly, the fuzzy-based control may be applied to the multilevel variable adjustment. The controller with tuned output ratios reaches small steady-state error, few trigger times and no overshoot to regulate the impulse-discharge power within 5 % error in actual truing. By integrating physical behavior and experiential knowledge rather than big data driving, the controllable impulse-discharge power for required diamond cutting edges advances the stable smooth surface grinding.

Two-center validation of Pilot Tone based cardiac triggering of a comprehensive cardiovascular magnetic resonance examination.

The electrocardiogram (ECG) signal is prone to distortions from gradient and radiofrequency interference and the magnetohydrodynamic effect during cardiovascular magnetic resonance imaging (CMR). Although Pilot Tone Cardiac (PTC) triggering has the potential to overcome these limitations, effectiveness across various CMR techniques has yet to be established. To evaluate the performance of PTC triggering in a comprehensive CMR exam. Fifteen volunteers and 20 patients were recruited at two centers. ECG triggered images were collected for comparison in a subset of sequences. The PTC trigger accuracy was evaluated against ECG in cine acquisitions. Two experienced readers scored image quality in PTC-triggered cine, late gadolinium enhancement (LGE), and T1- and T2-weighted dark-blood turbo spin echo (DB-TSE) images. Quantitative cardiac function, flow, and parametric mapping values obtained using PTC and ECG triggered sequences were compared. Breath-held segmented cine used for trigger timing analysis was collected in 15 volunteers and 14 patients. PTC calibration failed in three volunteers and one patient; ECG trigger recording failed in one patient. Out of 1987 total heartbeats, three mismatched trigger PTC-ECG pairs were found. Image quality scores showed no significant difference between PTC and ECG triggering. There was no significant difference found in quantitative measurements in volunteers. In patients, the only significant difference was found in post-contrast T1 (p = 0.04). ICC showed moderate to excellent agreement in all measurements. PTC performance was equivalent to ECG in terms of triggering consistency, image quality, and quantitative image measurements across multiple CMR applications.

Event-Triggered Path Following Robust Control of Underactuated Unmanned Surface Vehicles with Unknown Model Nonlinearity and Disturbances

An effective path-following controller is a guarantee for stable sailing of underactuated unmanned surface vehicles (USVs). This paper proposes an event-triggered robust control approach considering an unknown model nonlinearity, external disturbance, and event-triggered mechanism. The proposed method consists of guidance and dynamic control subsystems. Based on the tracking error dynamics equations, the guidance subsystem is designed to achieve the guidance law. For the dynamic control subsystem, the radial basis function neural networks (RBFNNs) are designed to approximate the unknown model nonlinearity and external disturbances to improve the robustness of the proposed method. In addition, an event-triggered mechanism is constructed to reduce the triggering times. The closed-loop system is proven to be stable, and the effectiveness of the proposed method is illustrated through simulation results.

Burst-Aware Time-Triggered Flow Scheduling With Enhanced Multi-CQF in Time-Sensitive Networks

Deterministic transmission guarantee in time-sensitive networks (TSN) relies on queue models (such as CQF, TAS, ATS) and resource scheduling algorithms. Thanks to its ease of use, the CQF queue model has been widely adopted. However, the existing resource scheduling algorithms of CQF model only focus on periodic time-triggered (TT) flows without consideration of bursting flows. Considering that the bursting flows often carry high-priority data in real systems, in this paper we investigate the mixed-flow (i.e., TT and bursting flows) scheduling problem in CQF-based TSN aiming to maximize the number of schedulable flows and system load balance while satisfying the deterministic demands of delay, jitter, and reliability for both TT and bursting flows. Unfortunately, it is challenging to schedule the mixed flows with the original CQF model because of the huge difference between TT and bursting flows. To resolve this problem, we firstly design an enhanced Multi-CQF model to satisfy the basic demands of bursting flows sent at any time without affecting the deterministic transmission of TT flows. Given the complexity of mixed-flow scheduling and the proposed queue model, it is difficult for traditional algorithms to fully utilize network resources. Thus, we further propose a time-correlated DRL resource scheduling (TimeDRS) algorithm to optimize the resource allocation. TimeDRS can be extended to other time-related resource scheduling scenarios, such as TDMA-based scheduling. Experimental results demonstrate that our proposed approaches can greatly reduce frame loss and end-to-end latency for bursting flows, and well balance runtime and schedulability compared with state-of-the-art benchmarks.

How to Prevent Early Ovulation/Luteinization During an IVF Cycle

In ovarian stimulation for artificial reproductive medicine, we sometimes encounter progesterone elevation (PL; Premature luteinization) on the day of ovulation trigger. Higher progesterone levels on the ovulation trigger have been indicated to induce adverse effects in pregnancy and implantation. This effect’s mechanism is considered an asynchrony between the embryo and the endometrium. PL is commonly defined as an elevation of serum progesterone over 1.5 ng/ml; however, the threshold values differ from the studies. PL had been evaluated by several predictors such as a single progesterone level, progesterone/ estradiol ratio, and progesterone/oocyte ratio. Some conditions may easily induce PL. In poor responder patients, a higher dose of FSH is used and that hormonal milieu provides a condition for premature luteinization. The physiological mechanism for PL has been studied; however, it is yet clarified. Since PL occurs during ovarian stimulation, FSH administration may contribute to PL. HCG trigger timing may also be an essential factor in raising progesterone. In the cases of premature luteinization, the freeze-all can be an appropriate means to keep pregnancy possibility. On the other hand, some studies indicate that the low success rates are attributable to the low quality of the embryo, not to hormonal or endocrinological disturbances. In this theory, the freeze-all strategy is not enough for a solution. Concerning impaired endometrium receptivity induced at premature luteinization, it has been reported to cause implantation failure. It has been indicated that PL affects pregnancy and live birth rates. Therefore, we are required to prevent PL by selecting appropriate ovarian stimulation protocol to achieve high pregnancy rates, optimal trigger timing, and use of medications such as corticosteroids or metformin that may prevent PL.

Periodic Event-Triggered MPC for Continuous-Time Nonlinear Systems With Bounded Disturbances

This paper is concerned with periodic event-triggering laws in robust model predictive control (MPC) for continuous-time constrained nonlinear systems. The online optimal control problem solved at triggering times is introduced. A periodic static event-triggering condition, in which a fixed sampling time interval plays an important role in avoiding Zeno behavior, is presented to alleviate continuous checking of event detections. Then a periodic dynamic event-triggering condition is investigated to further enlarge the minimal inter-execution time. Single-mode MPC with a prediction horizon larger than the control one is considered. Sufficient conditions of recursive feasibility for the online optimal control problem are derived. In order to relax the sufficient condition of stability, <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Ultimately Boundedness</i> properties are utilized in stability analysis. Finally, numerical simulation is provided to demonstrate the effectiveness of the proposed methods.

Abstract 13114: Beyond the Medical Record: An In-Depth Exploration of Takotsubo Syndrome Triggers

Introduction: Takotsubo syndrome (TS) is an acute, reversible episode of systolic dysfunction, preceded by emotional/physical triggers in 2/3 of cases and no trigger in 1/3 of cases based on retrospective medical record data. Research Question: How do patients with a recent TS episode describe their triggers? Goals: To conduct an in-depth investigation of patient narratives concerning the events that triggered their TS episode. Methods: We conducted semi-structured interviews in patients with a recent (&lt; 1 month) TS episode (Mayo Clinic criteria). We inquired about (1) type of trigger(s), and (2) trigger timing (&lt; or &gt; 48-96 hours before TS episode). Triggers were coded as emotional, psychosocial, and/or behavioral/physical. Recordings were transcribed, coded, summarized, and analyzed by the first and second authors. Results: Over 2/3 of patients (n=30; 97% female, 93% white; age 64 ± 9 yrs old) identified a trigger. Triggers included: a) acute events that occurred &lt;48-96 hours before the TS episode (e.g., death of daughter), b) chronic circumstances that occurred both outside of and within 48-96 hours before the episode (e.g., conflicts with spouse), and c) acute events that occurred &gt;48-96 hours before (e.g., binge drinking). The most prevalent triggers were negative emotions (86%; e.g., stress) and behavioral or physical factors (81%; e.g., atypical exercise/exertion). Nearly all triggers reported (81%) were multi-factorial (e.g., both physical and emotional). Of note, among participants who initially did not identify a trigger, 67% described potential triggering factors during the interview (e.g., increased stress). Conclusions: Consistent with the literature, 2/3 of patients identified a trigger. Yet, in contrast with current evidence, triggers were most often multifactorial (e.g., both emotional and physical) and many were chronic/ongoing. Moreover, for participants who could not identify a trigger, a potential trigger was often identified in the interview. Patients’ narratives around TS triggers are highly complex and likely insufficiently captured in clinical encounters. If these findings are replicated in larger and more diverse samples, they could lead to a re-thinking of the role of triggers in the onset of TS.

The coordinated fuzzy control of hierarchical power balance of new energy microgrid

In order to improve the coordinated control effect of hierarchical power balance of new energy microgrid, this paper applies fuzzy control method to this system, and proposes a hierarchical control strategy based on event-triggered communication. Each DG is regarded as a proxy, and the continuous actual value of output is replaced by the state prediction value. Moreover, two different event trigger condition functions for frequency and voltage are designed based on Lyapunov method respectively. At the same time, each DG only communicates with its neighbor DG aperiodic at the event trigger time, and finally all DG are restored to the reference value provided by the virtual leader. Finally, this paper constructs a coordinated fuzzy control simulation system for hierarchical power balance of new energy microgrid. Combined with the simulation results, the method proposed in this paper is feasible.

Data-Driven Self-Triggered Control via Trajectory Prediction

Self-triggered control, a well-documented technique for reducing the communication overhead while ensuring desired system performance, is gaining increasing popularity. However, a majority of existing self-triggered control methods require explicit system models. An end-to-end control paradigm known as data-driven control designs control laws directly from data and offers a competing alternative to the routine system identification-then-control strategy. In this context, the present paper puts forth data-driven self-triggered control schemes for unknown linear systems using input-output data collected offline. Specifically, a data-driven model predictive control (MPC) scheme is proposed, which computes a sequence of control inputs while generating a predicted system trajectory. In addition, a data-driven self-triggering mechanism is designed, which determines the next triggering time using the solution of the data-driven MPC and the newly collected measurements. Finally, both feasibility and stability are established for the proposed self-triggered controller, which are validated using a numerical example.

Possible origin of AT2021any: A failed gamma-ray burst from a structured jet

Afterglows not associated with any gamma-ray bursts (GRBs) are called orphan afterglows. The detection of such afterglows is an important goal in many sky survey programs. Recently, a promising orphan afterglow candidate, AT2021any, was found by the Zwicky Transient Facility. In this work, we performed multi-wavelength fittings of AT2021any with two different outflow models, namely, the top-hat jet model and the structured Gaussian jet model. Although both models can fit the observed light curves well, we found that the structured Gaussian jet model presents a better result and is thus preferred by observations. In this framework, the best-fit Lorentz factor is about 68, which indicates that AT2021any should be a failed GRB. The half-opening angle of the jet and the viewing angle were found to be 0.1 and 0.02, respectively, which means that the jet is essentially observed on-axis. We inferred the trigger time of the GRB to be about 1000 s before the first detection of the orphan afterglow, and we derived an upper limit of 21.5% for the radiative efficiency, which is typical for GRBs.

Distributed Formation Control for a Multirobotic Fish System With Model-Based Event-Triggered Communication Mechanism

This paper confronts the formation control problem for a multi-robotic fish system with event-triggered communication mechanism. A three-dimensional (3-D) distributed formation control framework is proposed to drive the robotic fish agents to an anticipated configuration aligning with a moving target. In particular, a consensus-based formation control law is intended to realize the two-stage formation control process. Taking the energy-constrained occasions into consideration, the communication structure and event-triggered protocols are initially tailored. Meanwhile, the Lyapunov function is employed and the globally asymptotic stability of the proposed method is fully demonstrated. Afterwards, making use of the local measurements of triggering times, the unscented Kalman filter (UKF) is introduced and a novel model-based event-triggered mechanism is put forward to further mitigate otiose communication consumption. Finally, adequate simulations and experiments are carried out to verify the effectiveness and robustness of the proposed scheme. Thereby, the proposed formation control frame offers great potential for future practical marine operations of the underwater multi-agent systems.

Inverse Problem Algorithm-Based Time-Resolved Imaging of Head and Neck Computed Tomography Angiography Contrast Kinetics with Clinical Testification.

This study mitigated the challenge of head and neck CT angiography by IPA-based time-resolved imaging of contrast kinetics. To this end, 627 cerebral hemorrhage patients with dizziness, brain aneurysm, stroke, or hemorrhagic stroke diagnosis were randomly categorized into three groups, namely, the original dataset (450), verification group (112), and in vivo testified group (65), in the Affiliated BenQ Hospital of Nanjing Medical University. In the first stage, seven risk factors were assigned: age, CTA tube voltage, body surface area, heart rate per minute, cardiac output blood per minute, the actual injected amount of contrast media, and CTA delayed trigger timing. The expectation value of the semi-empirical formula was the CTA number of the patient's left artery (LA). Accordingly, 29 items of the first-order nonlinear equation were calculated via the inverse problem analysis (IPA) technique run in the STATISTICA 7.0 program, yielding a loss function and variance of 3.1837 and 0.8892, respectively. A dimensionless AT was proposed to imply the coincidence, with a lower AT indicating a smaller deviation between theoretical and practical values. The derived formula was confirmed for the verification group of 112 patients, reaching high coincidence, with average ATavg and standard deviation values of 3.57% and 3.06%, respectively. In the second stage, the formula was refined to find the optimal amount of contrast media for the CTA number of LA approaching 400. Finally, the above procedure was applied to head and neck CTA images of the third group of 65 patients, reaching an average CTA number of LA of 407.8 ± 16.2 and finding no significant fluctuations.

Experimental study on gas production characteristics of electrolyte of lithium-ion battery under pyrolysis conditions

The fires of lithium-ion batteries are mainly due to the vent gas generated from electrolyte decomposition in the thermal runaway process. The gas production characteristics from lithium-ion battery electrolytes are studied experimentally. Furthermore, the effects of varying ratios of lithium cathode, temperature, and state of charge on the volume of electrolyte gas production, thermal runaway trigger time, gas composition, and gas component content are investigated in this study. The results show that the volume of electrolyte gas production gradually increases with rising temperature, reaching a “turning point” temperature between 180 °C and 210 °C. Above this temperature threshold, the growth rate of gas volume accelerates. The gas composition of the electrolyte is high sensitivity to temperature, with CO2 being the predominant gas followed by H2 and CO. High concentrations of H2 (30.3 mmol) and CO (19.1 mmol) serve as effective indicators for early detection of lithium battery thermal runaway. Approximately 55 % or more of the gas generated in thermal runaway are combustible gases, which is the primary factor leading to fire. The gas production volume at 100 % state of charge is approximately 2.5 times higher than that at 0 state of charge.

GRB 221009A with an Unconventional Precursor: A Typical Two-stage Collapsar Scenario?

As the brightest gamma-ray burst (GRB) ever detected, GRB 221009A may offer a chance that reveals some interesting features that are hidden in those bursts that are not so bright. There seems to be a very weak emission with a flux of 10−8 ∼ 10−7 erg cm−2 s−1 between the first pulse (T 0 ∼ T 0 + 50 s; T 0 is the trigger time) and the main burst (which appears from T 0 + 180 s). Thus, the gap time between them is not really quiescent, and the first pulse could be taken as an unconventional precursor, which may provide a peculiar case study for GRB precursor phenomena. A two-stage collapsar scenario is proposed as the most likely origin for this burst. In this model, the jet for the precursor is produced during the initial core-collapse phase, and should be weak enough not to disrupt the star when it breaks out of the envelope, so that the fallback accretion process and the forming of the disk could continue. We present an approach in which the duration and flux both provide constraints on the luminosity (L j) and the Lorentz factor at the breakout time (Γb) of this weak jet. The estimated L j ≲ 1049 erg s−1 and Γb has an order of 10, which are well consistent with the theoretical prediction. Besides, the weak emission in the gap time could be interpreted as an MHD outflow due to a magnetically driven wind during the period from the proto-neutron-star phase to the forming of the accretion disk in this scenario.

A portable AFO solution for pneumatic actuator with cable tendon mechanism to assist ankle dorsiflexion

The limited portability of pneumatic pumps presents a challenge for ankle-foot orthosis actuated by pneumatic actuators. The high-pressure requirements and time delay responses of pneumatic actuators necessitate a powerful and large pump, which renders the entire device heavy and inconvenient to carry. In this paper, we propose and validate a concept that enhances portability by employing a slack cable tendon mechanism. By managing slack tension properly, the time delay response problem of pneumatic actuators is eliminated through early triggering, and the system can be effectively controlled to generate the desired force for dorsiflexion assistance. The current portable integration of the system weighs approximately 1.6 kg, with distribution of 0.5 kg actuation part on the shank and 1.1 kg power system on the waist, excluding the battery. A mathematical model is developed to determine the proper triggering time and volumetric flow rate requirements for pump selection. To evaluate the performance of this actuation system and mathematical model, the artificial muscle’s response time and real volumetric flow rate were preliminarily tested with different portable pumps on a healthy participant during treadmill walking at various speeds ranging from 0.5 m/s to 1.75 m/s. Two small pumps, specifically VN-C1 (5.36 L/min, 300 g) and VN-C4 (9.71L/min, 550 g), meet our design criteria, and then tested on three healthy subjects walking at normal speeds of 1 m/s and 1.5 m/s. The kinematic and electromyographic results demonstrate that the device can facilitate ankle dorsiflexion with a portable pump (300–500 g), generating sufficient force to lift up the foot segment, and reducing muscle activity responsible for ankle dorsiflexion during the swing phase by 8% and 10% at normal speeds of 1 m/s and 1.5 m/s respectively. This portable ankle robot, equipped with a compact pump weighing approximately 1.6 kg, holds significant potential for assisting individuals with lower limb weakness in walking, both within their homes and in clinical settings.

Event‐triggered finite‐time terminal sliding mode containment control of multi‐agent systems with nonlinearity and disturbances

AbstractFinite‐time containment control of second‐order nonlinear multi‐agent systems with disturbances is investigated. The network topology among agents is assumed to be directed. An event‐triggered terminal sliding mode controller is designed, which is robust with respect to disturbances. Based on the control strategy, the accessibility of sliding manifold and the consensus tracking of the obtained sliding‐mode dynamics are achieved in finite‐time. Continuous update of controller is avoided and the settling time of the system convergence is evaluated. Moreover, the Zeno‐behavior of the triggering time sequence for each agent is excluded. Finally, the feasibility of the developed scheme is evaluated in numerical simulations.