Research on Self-Triggered Controller for Finite-Time Consensus of Multi-Agent System

This paper is concerned with a multi-agent system to achieve finite-time consensus utilizing self-triggered control. In previous research, event-driven control for finite-time consensus of multi-agent system still needs continuous communication to update the trigger function. Therefore, we introduce a trigger function based on broadcast state which only updates at each event along with the controller. It is proved that such self-triggered controller satisfies the requirements of finite-time consensus. And the system does not exhibit Zeno behavior if and only if the precision of state error is lower bounded. Simulation results show that although self-triggered control has greater estimation error in consensus time, it saves more computation and communication resource compared with event-driven control.