Event-triggered guaranteed cost consensus for uncertain nonlinear multi-agent systems with time delay

摘要

The problem of event-triggered guaranteed cost consensus for nonlinear multi-agent systems with time delay and uncertain parameters is solved in this paper. First, a distributed event-triggered strategy is presented, by which control protocol is updated only at the triggering time instants, leading to significant saving of communication resources. Second, based on the Lyapunov method and the proposed event-triggered strategy, some criteria are obtained to ensure that guaranteed cost consensus can be achieved. Moreover, it is proved that the Zeno behavior is excluded under the proposed event-triggered scheme. Third, an algorithm is given to design suitable control gains in terms of linear matrix inequalities. Finally, the validity of the proposed results in this paper is verified via numerical simulation. (C) 2020 Elsevier B.V. All rights reserved.