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In this paper, the finite-time consensus problem of multi-agent systems with disturbances is investigated. For the first time, the dynamic event-triggered mechanism is combined with the sliding mode control algorithm to develop a novel finite-time consensus control law. The finite-time consensus of multi-agent systems can be achieved with this control protocol in spite of system disturbances. Different from the asymptotic convergence under the dynamic triggering mechanism, by introducing dynamic parameters, the new triggering mechanism can ensure the finite-time consensus of the system states. The new dynamic triggering mechanism can extend the interevent time interval to avoid Zeno behaviour. Finally, the effectiveness of the proposed scheme is validated by simulation examples.

Finite-time dynamic event-triggered consensus of multi-agent systems with disturbances via integral sliding mode