Robust event-triggered control of second-order disturbed leader-follower MASs: A nonsingular finite-time consensus approach

This paper addresses the finite-time and the prescribed finite-time event-triggered consensus tracking problems for second-order multi-agent systems (MASs) with uncertain disturbances. The prescribed finite-time event-triggered consensus of the second-order disturbed MASs was obtained for the first time and the controller is nonsingular. Furthermore, a new self-triggered control scheme is presented for the finite-time consensus tracking, and the continuous communication can be avoided in the triggering condition monitoring. Hence, the finite-time consensus tracking can be achieved with intermittent communication. Moreover, Zeno behavior is excluded for each follower. The efficiency of the proposed algorithms is verified by numerical simulations.