Event-triggered consensus for continuous-time multi-agent systems with parameter uncertainties

This paper investigates the event-triggered consensus for linear continuous-time uncertain multi-agent systems. The parameter uncertainty is assumed to be time-varying but norm-bounded. An event-triggered consensus protocol is proposed based on the predictive method to make the multi-agent system achieve consensus without continuous communication among agents. A necessary and sufficient condition for the consensus problem of the multi-agent system is derived and a method to design the feedback gain matrix are proposed. Furthermore, the nonexistence of Zeno behaviour is also proved. Finally, a numerical example is given to illustrate that the event-triggered consensus protocol proposed in this paper can make the multi-agent system with parameter uncertainties achieve consensus without continuous communication.

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