Event‐triggered finite‐time terminal sliding mode containment control of multi‐agent systems with nonlinearity and disturbances

Abstract Finite‐time containment control of second‐order nonlinear multi‐agent systems with disturbances is investigated. The network topology among agents is assumed to be directed. An event‐triggered terminal sliding mode controller is designed, which is robust with respect to disturbances. Based on the control strategy, the accessibility of sliding manifold and the consensus tracking of the obtained sliding‐mode dynamics are achieved in finite‐time. Continuous update of controller is avoided and the settling time of the system convergence is evaluated. Moreover, the Zeno‐behavior of the triggering time sequence for each agent is excluded. Finally, the feasibility of the developed scheme is evaluated in numerical simulations.