Observer-Based Dynamic Event-Triggered Strategies for Leader-Following Consensus of Multi-Agent Systems With Disturbances

This paper studies leader-following bounded consensus problem for linear multi-agent systems (MASs) with exogenous disturbances under an observer-based dynamic event-triggered scheme. To guarantee performance requirements, and avoid frequent updates of the sensors, and the controllers at the same time, two independent event-triggered schemes with dynamic threshold are proposed in sensor-to-observer (S-O), and controller-to-actuator (C-A) channels, respectively. And a fully distributed observer event-based controller is designed, which only requires the observer information from neighboring followers, and itself for each follower. With the help of the Riccati equation, and inequality techniques, some simple, and convenient sufficient conditions are derived to ensure that the closed loop system converges to a bounded region exponentially. Moreover, the proposed dynamic event-triggered mechanisms in S-O, and C-A channels do not only lessen the transmission load, and controller update, but also exclude the Zeno behavior. Finally, a numerical example is given to verify the correctness, and efficiency of our results.