Event-Triggered Finite-Time Integral Sliding Mode Controller for Consensus-Based Formation of Multirobot Systems With Disturbances

— This paper deals with the distributed fast and finite-time consensus problem of multiagent systems with bounded disturbances in a leader–follower-based frame work. A novel integral sliding mode-based robust finite-time event-triggered control strategy has been proposed. A fast reaching law is also utilized to improve the speed of convergence. The trigger-ing condition is derived based on the defined novel measurement error, suited for systems with model uncertainties/disturbances. The expression for the lower bound for the interexecution time has been derived to ensure that the zeno behavior is avoided. The proposed nonlinear consensus protocol is such that the desired relative state deviation between the agents can be achieved with a directed graph topology. The theoretical results are validated through real-time experimentations done using Pioneer P3-DX as well as FireBird VI robots.