Consensus of multi-agent system with disturbance based on dynamical event-triggered control

This study addresses the consensus problem of multi-agent systems (MAS) subject to external disturbance. Considering the presence of external disturbance factors, a theoretical analysis of consensus for distributed MAS is conducted. First, a state observer and an adaptive disturbance observer are designed to estimate both the node states and disturbance states of each agent in the system. Subsequently, a dynamic event-triggered control strategy is formulated based on the estimated values from the observers. Notably, the dynamic event-triggered strategy incorporates dynamically adjustable parameters, offering enhanced flexibility compared to conventional static event-triggered strategies. Using Lyapunov stability theory and inequality techniques, sufficient conditions for achieving consensus in disturbed MAS are derived. Finally, a numerical example is provided to demonstrate the effectiveness of the observers, control strategies, and theoretical results. This work provides new solutions for the consensus control of heterogeneous MAS with external disturbance, where both the obsever and the dynamic event-triggered controller are equipped with adjustable parameters, rendering the approach more practical for real-world applications.