Distributed event-triggered adaptive finite-time consensus control for second-order multi-agent systems with connectivity preservation

Qi Li, Jinyuan Wei, Jianping Yuan, Qiuxiong Gou, Zhiqi Niu

Research output: Contribution to journalArticlepeer-review

21 Scopus citations

Abstract

In this paper, we consider the robust finite-time consensus problem for second-order multi-agent systems (MASs) with limited sensing range and weak communication ability. As a stepping stone, a novel distributed finite-time sliding mode manifold is developed for MASs. Then, by combining artificial potential function technique with the presented sliding mode manifold, a robust distributed control scheme is proposed to enable the finite-time consensus of MASs while preserving the prescribed communication connectivity. Furthermore, the sampling frequency and implementation burden of the proposed controller can be reduced with resort to the event-triggered methodology. Finally, numerical examples are given to show the effectiveness of the proposed method.

Original languageEnglish
Pages (from-to)6013-6034
Number of pages22
JournalJournal of the Franklin Institute
Volume358
Issue number12
DOIs
StatePublished - Aug 2021

Keywords

  • Connectivity preservation
  • Consensus control
  • Event-triggered control
  • Finite-time control
  • Multi-agent systems (MASs)

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