On Distributed Event-triggered Controller with Aperiodic Event Detection for Finite-time Consensus of Multi-agent Systems

Abstract

This paper provides a distributed event-triggered controller with aperiodic event detection for finite-time consensus of multi-agent systems. In previous research, event-triggered control for finite-time consensus of multi-agent systems still needs continuous communication to update the trigger function. Therefore, we introduce a trigger function based on broadcast state which only updates at each event along with the controller. It is proved that such event-triggered controller satisfies the requirements of finite-time consensus. And the system does not exhibit Zeno behavior if and only if the precision of state error is lower bounded. Simulation results show that although aperiodic event detection has greater estimation error in consensus time, it saves more computation and communication resource compared with continuous event detection.