Event-Triggered Robust H∞ Consensus Control of Uncertain Linear Multi-Agent Systems

For uncertain linear multi-agent systems (MAS) with external disturbances, the event-based distributed robust H-infinity consensus control method is investigated. An event-triggered consensus control protocol (ETCCP) is presented, which ensures that the consensus is realized for all agents meanwhile satisfying expected robust H-infinity performance. The messages of states for every agent are broadcast to its neighbors only at the event moments, which is determined by a dynamic event-triggered criterion. Furthermore, it is shown that every agent is Zeno-free. Lastly, an example is offered to verify the correctness of the conclusions.