Robust adaptive event-triggered consensus control for multiagent systems in presence of uncertain system dynamics

Abstract

The model-based event-triggered strategies have been developed as an alternate for Zero-Order-Hold (ZOH)- based event triggered scheme in continuous-time for multi-agent systems (MAS). However, traditional event-triggered schemes need the knowledge of system dynamics whereas model-based schemes are sensitive to model uncertainties. Therefore, in this paper, a novel distributed robust event-triggered consensus control schemes are proposed for MAS with uncertain system dynamics. In the proposed approach, the system is considered completely unknown and the MAS model or state estimator is updated online. The update law for tuning the unknown parameters of the MAS model, and distributed event triggering condition are derived. Lyapunov theory is used to demonstrate that all the closed-loop signals and estimated MAS model parameters are asymptotically stable and consensus. Simulation results are included to show the effectiveness of the proposed scheme.