Finite-time robust consensus of nonlinear disturbed multiagent systems via two-layer event-triggered control

In this paper, a new class of two-layer event-triggered sliding-mode control (TLETSMC) is proposed for finite-time robust consensus of nonlinear disturbed multiagent systems. Under the proposed TLETSMC, the states of nonlinear disturbed multiagent systems reach the designed sliding-mode surface in finite time, and then stay on it, where the finite-time consensus is also guaranteed. Additionally, within the sliding motion, the external disturbances are rejected and the Zeno behavior is excluded. The advantages of the presented TLETSMC are twofold. First, it can provide finite-time convergence performance for the presented robust consensus problem. Second, the algorithm complexity of the TLETSMC is identical to that of traditional one-layer event-triggered sliding-mode control (OLETSMC). To further illustrate the above two advantages, three other trigger control algorithms are presented. The corresponding comparison studies among the aforementioned trigger control algorithms are carried out by introducing a new performance index named triggerrate, which refers to the proportion of the trigger number under the unit sampled-date number and the smaller the better. Finally, numerical simulations are performed to demonstrate the effectiveness and advantages of the theoretical results.