Event-based rigid formation system with cooperative finite-time control

We note that most of the rigid formation control based on distance-constrained theory only guarantees exponential or asymptotic convergence of the system. In this paper, we proposed a finite-time event-based control scheme applied in rigid formation control system. Centralized finite-time event-based formation control system is designed where the next trigger time is determined by a central event-based controller, which broadcasts and updates the control input signal to all agents. Then, we build a distributed finite-time event-based control strategy, different from the above system where each agent only uses its own local information. For the above two protocols, we discussed the trigger situation, which ensures that the formation system converges in a finite time. Finally, simulation results proved the performance and effectiveness of the proposed finite-time event-based scheme.