Abstract
This study deals with finite-time consensus problems of second-order multi-agent systems with intrinsic nonlinear dynamics and external bounded disturbances. First, instead of the time-triggered control algorithm, the event-triggered control algorithm is developed by using integral sliding mode control strategy. Then, a triggering function is explicitly constructed to generate event sequences, and the triggering function is fully continuous communication free. Rigorous proof is given by using Lyapunov stability theory and finite-time stability theory. Several conditions are derived to guarantee the finite-time consensus and exclude Zeno behavior. Finally, a simulation of single-link robotic arms is given to verify the effectiveness of the results.
| Original language | English |
|---|---|
| Pages (from-to) | 836-846 |
| Number of pages | 11 |
| Journal | International Journal of Control, Automation and Systems |
| Volume | 17 |
| Issue number | 4 |
| DOIs | |
| State | Published - Apr 2019 |
Keywords
- Disturbances
- event-triggered control
- finite-time consensus
- integral sliding mode
- nonlinear dynamics
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