Consensus of nonlinear MAS via double nonidentical mode-dependent event-triggered switching control

Abstract

This paper investigates the global exponential consensus almost surely (GEC a.s.) of nonlinear multi-agent system (MAS) with switching topology via double nonidentical mode-dependent event-triggering mechanisms (ETMs). Considering the activated probability of switching modes, the transition probability (TP) and mode-dependent average dwell time (MDADT) are combined to propose a more practical switching rule. To save communication resources as much as possible, a set of nonidentical mode-dependent ETMs are designed, where the ETMs of each node are nonidentical and the ETM for controller-actuator (C-A) channel is designed on the basis of ETM for sensor-controller (S-C) channel. By designing a new Lyapunov-Krasovskii functional (LKF), sufficient conditions are derived to ensure the GEC a.s. of nonlinear MAS and the control gains are obtained by solving linear matrix inequalities (LMIs). Usually, the increment coefficient of LKF at switching instant must be larger than one, which will lead to conservatism. Our results remove this constraint condition and do not require each mode of the consensus error system to be stable. A numerical example is provided to demonstrate the effectiveness and feasibility of the theoretical analysis.