Event-Triggered Finite-Time Consensus Scheme for Time-Delay Multi-Agent Systems with Settling Time Estimation and its Application

ABSTRACT This study addresses the finite-time formation control issues associated with time-delay multi-agent systems. To tackle the challenges of finite-time stability in delay systems, Artstein’s transformation is utilized. A distributed finite-time consensus algorithm is developed, incorporating an event-triggered control scheme and a corresponding triggering function to minimize unnecessary energy consumption and reduce the frequency of controller updates. The validity of the proposed approach is rigorously established through Lyapunov stability theory and finite-time stability theory, ensuring the absence of Zeno behavior. Furthermore, building upon the finite-time consensus algorithm, a finite-time formation control algorithm is formulated, enabling a group of agents to follow a designated leader while maintaining a specified formation shape. By employing feedback linearization, the unmanned aerial vehicle model is transformed into a precise linearized model. Finally, the application of this framework to formation control is presented, demonstrating the effectiveness of the proposed results.