Distributed Dynamic Event-Triggered Consensus for Linear Multi-Agent Systems with Bounded Interference

In this paper, the consensus of general multi-agent systems under bounded disturbance is studied based on the event triggering control method of relative state information state estimation. The method is more flexible by adding a state-related item to the design of trigger threshold. Firstly, the fully distributed event-triggered protocol can satisfy the sufficient condition of consensus by using algebraic graph theory and Lyapunov theory. Secondly, the protocol can obtain that the adjacent trigger interval is strictly greater than zero, thus excluding Zeno behavior. Finally, the effectiveness of the protocol under bounded interference can be verified by experimental simulation.