Abstract
This paper deals with the event-triggered leader-follower consensus problem of linear multi-agent systems with disturbances over the directed graph. By using relative output information of the neighboring agents, we develop a novel class of distributed extended state observers. With the estimated values of tracking error and coupled states of the leader’s input and disturbances, event-triggered protocols are designed to solve the leader-follower consensus problem. The proposed protocols update intermittently and can suppress disturbances actively. Subsequently, we prove the systems don’t exhibit Zeno behavior. Furthermore, both the input of leader and disturbances are considered as unmodeled and not available to any follower. Finally, a simulation example is provided to demonstrate the theoretical results.
Published Version
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