Distributed finite-time tracking of second-order multi-agent systems based on dynamic event triggering

In this paper, the finite-time leader-follower consensus problem via dynamic event-triggered control is investigated for second-order Multi-Agent Systems (MASs). An integral Lyapunov function is used to design a novel finite-time controller under which all the followers can track the leader's trajectory in finite time. A new finite time dynamic event-triggered is proposed to reduce communication costs. Notably, the introduction of non-negative internal dynamic variables in this paper can effectively prolong the inter-event time interval, and the presence of dynamic thresholds ensures fewer triggers compared to the traditional static thresholds. The proposed eventtriggered controller can guarantee the finite-time stable of the closed-loop MASs. Finally, the rationality and feasibility of the proposed scheme are verified by simulation.