Event-triggered guaranteed cost consensus control for second-order multi-agent systems based on observers

Abstract

In this paper, the event-triggered guaranteed cost consensus problem is considered for second-order multi-agent systems whose system states are unmeasurable. First, an observer-based distributed event-triggered condition is presented. The triggering time series for each agent is different, and the controller with a time-varying delay is updated only at the triggered times, which can reduce the communication time effectively. Second, using the event-triggered condition and the Lyapunov method, several sufficient conditions are obtained to achieve the guaranteed cost output feedback consensus. Moreover, for each event-triggered interval, a positive lower bound can be calculated, leading to the avoidance of Zeno behaviors. Third, appropriate controller and observer gains can be designed using the linear matrix inequality technique, which is verified through numerical simulations.