Event-triggered tracking control for multi-agent systems with measurement noises

Abstract

ABSTRACT This paper considers the mean-square leader-following consensus problem for heterogeneous multi-agent systems (MASs) affected by noises. Because only the output signal of a leader can be measured, a distributed dynamic control driven by an event-triggered mechanism (ETM) is proposed. The proposed ETM can reduce the signal transmission amount from sampler to controller. Using the tine-delay model method, the system under the proposed controller can be modelled as a stochastic time-delay system. Then the time-varying Hanaly inequality is utilised to obtain sufficient conditions that guarantee the consensus of MASs. Further, the quantity-based event-triggered mechanism is proposed to reduce the amount of traffic. Finally, an example is given to illustrate the validity of the obtained results.