Guaranteed-performance consensus control for multi-agent systems with external disturbances via event-triggered strategy

Abstract

In this paper, we investigate the leader-following guaranteed performance consensus problem for multi-agent systems(MASs) controlled by event-triggered under external disturbances. First, a disturbance observer is designed for each follower, which can be used to efficiently estimate external disturbances. Second, to reduce the waste of communication resources, a new distributed event-triggered strategy based on the state estimation of neighboring agents is presented, which does not need continuous communication among agents. And the growing estimation error is reset by communication updates. The analysis illustrates that Zeno behavior can be effectively averted by formulating a lower bound on the number of normals for the minimum inter-event interval. Also, based on the above proposed state feedback consensus protocol with guaranteed performance, sufficient conditions are derived to guarantee that a MASs can achieve leader-following consensus. In addition, the consensus criterion with guaranteed performance is put forward in the form of a linear matrix inequality. The cost of guaranteed performance with leader-following structural properties is also established. At last, an example of numerical simulation is presented to confirm the derived analytical solution.