Automatica, Vol.103, 88-95, 2019
Distributed event-driven control for finite-time consensus
This paper is concerned with how multi-agent networks achieve finite-time consensus using distributed event-driven control. Due to the hybrid nonlinearities arising from the nonsmooth control and the triggering condition, finite-time consensus analyses are more challenging with event-driven control than with continuous-time control. We study agents with single integrator dynamics and scalar states and present a distributed event-driven control protocol for the finite-time consensus, with comparison to continuous-time control. It is shown that using the proposed event-driven control scheme, agents can reach consensus within a limited time and without Zeno behavior. We also obtain an estimate for the settling time and demonstrate that it is not only related to the initial condition and network connectivity, but is also linked with the event-triggering condition. Simulations are given to demonstrate the theoretical results. (C) 2019 Elsevier Ltd. All rights reserved.