Event-Triggered Finite-Time Consensus of Second-Order Leader-Follower Multiagent Systems With Uncertain Disturbances

In this article, for second-order multiagent systems with uncertain disturbances, the finite-time leader-follower consensus problem has been investigated. First, by considering that the leader's states are only available to part of the followers, a distributed estimator is constructed to estimate the state tracking errors between the leader and each follower. Then, an estimator-based control scheme is proposed under the event-triggered strategy to achieve finite-time leader-follower consensus. Besides, the event-triggered intervals are with a positive lower bound such that the Zeno behavior can be avoided. Note that the system is discontinuous under the event-triggered mechanism; thus, a nonsmooth analysis is performed. Numerical simulations are presented to demonstrate the effectiveness of our theoretical results.