Event-triggered and stochastic-sampled consensus of nonlinear multi-agent systems under semi-Markov switching topology

This article investigates exponential mean square consensus (MSC) problem of leader-follower multi -agent systems (MASs). It is considered that the communication topology switches randomly and obeys a semi-Markov process. In view of possible data loss in information transmission, stochastic sampling scheme is introduced. Meanwhile, mode -dependent event -triggered control strategy based on sampled data is adopted to decrease communication broadband. The two cases that the transition rate matrix (TRM) of semi-Markov process is completely or partially known are respectively discussed. As a result, several sufficient conditions which can ensure to achieve exponential MSC are respectively deduced by means of stochastic Lyapunov theory and linear matrix inequality (LMI) theory. At last, two simulation tests corresponding to completely and partially known TRMs are designed to verify the correctness of the obtained conclusions.