Event-Triggered Finite-Time Consensus for Nonlinear Leaderless Multi-Agent System with Uncertain Disturbances

This paper focuses on the finite-time consensus problem of disturbed nonlinear multi-agent system, in which the uncertain disturbances are bounded by an unknown constant and the nonlinear dynamics are Lipschitz continuous. Based on finite-time Lyapunov theorem and adding a power integrator technique, an energy-efficient control system is constructed with distributed event-triggered control strategy. It is proved that Zeno behavior can be excluded in the proposed event-triggered protocol. The theoretical analysis is illustrated by simulation results.