Finite-Time Robust Admissible Consensus Control of Multirobot System Under Dynamic Events

This article addresses the problem of event-based consensus in a leader–follower multiagent system framework prone to external bounded disturbance. The proposed approach has three parts. The first part defines a novel measurement error based on sliding surface for super-twisting sliding-mode controller. The Lyapunov stability analysis is then used to derive a dynamic event-triggering condition for control updates. The event-based control updates guarantee stability along with the desired consensus amongst agents (robots). The second part derives a bound on reaching time to the sliding surface, thereby guaranteeing finite-time consensus control for each agent. The third part guarantees the admissibility of event-based control updates for each agent. The robustness of the proposed approach is validated through simulation and real-time experiments using three Pioneer P3-DX mobile robots in a multiagent framework. The real-time experimental results prove the reduction in computational burden of the entire system as control updates for two followers are found to be approximately
$\text{28.33}\%$
and
$\text{23.33}\%$
, respectively, in the presence of disturbances.