Event-Based Finite-Time Consensus Control of Second-Order Delayed Multi-Agent Systems

This brief considers the event-based finite-time consensus problems for second-order multi-agent systems (MASs) with input delay. By backstepping design method, the controllers are developed to ensure true velocity track virtual velocity within a fixed time. Once the true velocity tracks on the virtual velocity, all agents can reach the agreement within a finite time. Moreover, an improved event-based control scheme is proposed by discontinuous communication. Besides, no Zeno behavior occurs. The efficiency of the proposed algorithms is illustrated by a detailed numerical example.