Distributed Finite-time Dynamic Event-triggered Consensus Control for Nonlinear Multi-agent Systems

This paper is concerned with a second-order sliding mode finite-time consensus control problem for nonlinear multi-agent systems with dynamic event-triggered communication. A novel dynamic event-triggered control strategy with two sub-dynamic triggering conditions is proposed to address the limited communication, which are established based on internal variables and local information. Different from the traditional static event-triggered strategy, the proposed dynamic event-triggered strategy can further reduce the update frequency of the actuator. Different from the dynamic triggering conditions that can only be applied to asymptotically convergent systems, the dynamic triggering condition designed in this paper can apply to finite-time convergent systems. The stability of the closed-loop system can be guaranteed by the Lyapunov theorem. Simulation results are provided to verify the effectiveness of the developed dynamic event-triggered consensus control law.