Event-Based Finite Time Stabilizability and Formation Control of Multi-Agent Systems

The paper considers the event-triggered stabilizability of multi-agent systems (MAS). To reduce the frequency of control input update and information transmission, a novel distributed event-triggered control strategy with state estimation feedback is designed to achieve stabilizability. Event-trigger rules involving dynamic threshold are constructed, which ensure the convergence of systems states in finite time. By utilizing iSCC (independent strongly connected component) partition and Lyapunov stability theory, sufficient criteria for achieving finite time stabilizability have been obtained. Moreover, formation control under event-trigger scheme is addressed based on the obtained stabilizability results. Besides, it has been proven that the event-trigger interval has a positive lower bound, which can avoid Zeno behavior. Finally, the effectiveness of the theoretical results is verified by simulation.Note to Practitioners—In the fields of control and engineering, system stability has always been a research hotspot. Traditional stability analysis often focuses on the asymptotic stability. However, many practical scenarios require the system to reach a stable state within a finite time, i.e., finite time stabilizability, such as rapid response systems, emergency braking systems, and responding to emergencies. Hence, the research on finite time stabilizability has important practical value. In order to reduce the frequency of control updates, this paper proposes the finite time stabilizability under event-trigger scheme and designs a novel feedback controller based on state estimation, which has not been discussed before. At the same time, to explore the impact of network topology on stabilizability, the sufficient conditions for achieving finite time stabilizability of the system are obtained by iSCC graph partition. Dynamic threshold in event-triggering conditions to guarantee the implementation of finite time stabilizability is constructed. Finally, the theoretical results are applied to formation control. The research is of great significance for improving system performance and meeting real-time requirements.