Distributed Leaderless Consensus Control for Uncertain Multiagent Systems with Event-triggered Communication and Disturbances

In this paper, a distributed leaderless consensus control problem is investigated for uncertain multiagent systems (MASs) with event-triggered (ET) communication and disturbances. To economize the limited communication resources, two ET mechanisms are employed in the controller-to-actuator channel and communication channel respectively. In the controller-to-actuator channel, a novel switching ET mechanism is developed, where the agents can choose the ET strategies arbitrarily in a unified control framework by adjusting a switching parameter. In the communication channel, an improved filter composed of only triggered output signals is presented, which can avoid the transmission of multiple signals between agents and reduce the dispensable data transmission effectively. In the designed filter-based backstepping control framework, the parameter estimation technique is employed to deal with unmatched uncertainties and disturbances problems for high-order nonlinear MASs. By applying the Lyapunov stability method, it is proved that the outputs of agents can reach a leaderless consensus, and the stability of the closed-loop system can be guaranteed. Finally, two simulation examples demonstrate that the proposed control strategy is effective.