In this article, an event‐triggered sampled‐data implementation of a class of finite‐time consensus controllers is considered for first‐order multiagent systems under general directed communication graphs. Each agent only updates its control input at its event‐triggering time instants. From any initial condition of the agents, it is rigorously proved that the proposed control strategy can achieve consensus with arbitrarily small errors in a finite time. Zeno behavior is also proven to be excluded. Moreover, a self‐triggered sampled‐data implementation is proposed to further reduce the communication requirement. Both leaderless and leader‐following consensus are considered. Generalizations to event‐triggered consensus of second‐order multiagent systems are then presented. Simulations of the frequency and voltage control of smart grids are finally given to illustrate the effectiveness of the proposed protocols.

中文翻译：

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具有通用定向通信图的多主体系统的事件触发的有限时间实践共识

在本文中，对于一阶多主体系统在通用有向通信图下考虑了事件触发的一类有限时间共识控制器的采样数据实现。每个代理仅在其事件触发时刻更新其控制输入。从代理的任何初始条件出发，都严格证明了所提出的控制策略可以在有限的时间内以任意小的误差达成共识。芝诺的行为也被证明是被排除在外的。此外，提出了一种自触发采样数据的实现方式，以进一步降低通信需求。无领导者和遵循领导者的共识都被考虑。然后介绍了对二阶多主体系统的事件触发共识的概括。