Observer-based output feedback event-triggered robust H∞ consensus control of uncertain linear multi-agent systems with directed networks

Based on accessible output signals, the distributed event-triggered robust H-infinity consensus control is investigated for a range of uncertain linear multi-agent systems with external disturbances under directed networks in this article. By introducing some certain variable transformations, the consensus problem of the multi-agent system is converted into the stability analysis for a cluster of sub-systems. Different from some conventional consensus protocols which rely on full states and continuous interactions among agents, an event-triggered consensus control protocol only based on the local observed relative states of neighboring agents at event moments is proposed by adopting an observer to each agent. It is strictly proved that all agents can achieve consensus meanwhile satisfying the desired robust H-infinity performance and no agent exhibits Zeno behavior under the proposed control protocol. Finally, an example of a typical mass-spring system is given to illustrate the validity of the theoretical results.

Automated summary

This article investigates the distributed event-triggered robust H-infinity consensus control for uncertain linear multi-agent systems with external disturbances under directed networks based on accessible output signals. By introducing variable transformations, the consensus problem is converted into stability analysis of sub-systems. A new event-triggered consensus control protocol is proposed, which only requires local observed relative states of neighboring agents. The protocol ensures consensus achievement and desired robust H-infinity performance without Zeno behavior.