Finite-time Consensus of Multi-agent Systems via Time-based Event-triggered Control

Abstract

In this paper, we propose a time-based event-driven control protocol for finite-time consensus. Compared with the state-based triggering function, each agent only needs to monitor its own state continuously to determine when to trigger the event and broadcast its state to the neighbors. The agent updates its controller when it broadcasts its state or receives information from neighbors. The estimated settling time depends on the initial condition, triggering function and topology. Furthermore, the system does not exhibit Zeno behavior if and only if the triggering threshold is lower bounded. Simulation results show that although time-based method has greater estimation error in convergence time, it saves computation and communication resource compared with state-based method.