Finite-time Dynamic Event-triggered Consensus of Nonlinear Multi-agent Systems

To improve performance and increase usability, we focus on a solution to achieve dynamic event-triggered finite- time consensus for multi-agent systems under undirected graph. A distributed event-triggered algorithm with a dynamic event- triggered condition is presented to meet the above control objectives and reduce some computation overload. Unlike other static trigger schemes, this dynamic law takes on a dynamic threshold value. Only when this dynamic threshold is violated, the agent has access to new data through topology at the current moment. By choosing an appropriate Lyapunov function, we provide a rigorous proof to show that our multi-agent systems reach consistency. In addition, one counterfactual method is used to verify any possible Zeno behavior will not appear. Finally, two simulations expound the superiority of this dynamic algorithm.