含未知干扰的多智能体系统全分布式事件触发控制OA

For linear multi-agent systems(MASs)subject to unknown disturbances,the problem of fully distributed event-triggered average consensus control is studied.First,a disturbance observer is designed for each agent to estimate the disturbances it is subjected to.Then,the relative state between the agent and its neighbors is obtained by utilizing the constructed event-triggered communication mechanism.Thus,a fully distributed event-triggered control protocol with adaptive coupling gain is proposed.By analyzing the stability of the augmented error system,sufficient conditions are provided for the practical consensus of MASs under the proposed control protocol.Based on this control protocol,in realizing the consensus of MASs,each agent only needs to utilize the relative state information of itself and its neighbors intermittently,without requiring any global state or global communication topology information.Also,the unknown external disturbances can be compensated.The effectiveness of the proposed control protocol is verified by a simulation example.