Hybrid dynamic event-triggered leader-following consensus for multi-agent systems with external disturbances

Abstract

Herein, we address the leader-following consensus for multi-agent systems with a directed graph while considering external disturbances. To optimize resource utilization, we propose a hybrid dynamic event-triggered mechanism (HDETM) that minimizes the inter-agent communication and reduces the frequency of controller updates. Furthermore, regularization techniques are employed to ensure that the considered system maintains a Zeno-free behavior even in the presence of an external disturbance by guaranteeing a strictly positive inter-event time. Additionally, we propose a hybrid system framework incorporating auxiliary variables to depict both flow and jump dynamics. A Lyapunov consensus analysis is performed within this framework to verify finite-gain L2 stability. Finally, we validate the efficacy of the HDETM design method through numerical simulations.