Enhancing Adaptive Event-Triggered Protocols for Multi-Agent Consensus with External Disturbances

摘要

This paper studies the design of adaptive event-triggered protocols for consensus of linear multi-agent systems (MASs) with external disturbances. Different from most of the existing results that deal with undirected graphs, this paper addresses directed graphs, specifically graphs that are assumed to be strongly connected. Inspired by a recent development [1], this paper devises novel adaptive event-triggered protocols for linear MASs with all agents subject to external disturbances. Two specific designs of composite triggering conditions are analysed and discussed. Compared with the disturbance-free case, additional constraints need to be introduced to deal with external disturbances and moreover the time-dependent terms are allowed to take any finite functions, rather than a class of $L_{1}$ functions.