Dynamic Event-Triggered Predictive Control for Consensus of the Multi-Agent Systems with Disturbances

This paper combines the idea of Dynamic Event-triggered Control(DETC) and Tube-based Model Predictive Control(TMPC) to study the consensus control problem of continuous linear multi-agent systems(MASs). Considering that the system has bounded disturbance, under the DETC, the dual-mode MPC is used. Both the feasibility of DETC-TMPC and the stability of closed-loop system are guaranteed. At the same time, there is a minimum trigger time interval between two consecutive trigger moments, and the Zeno phenomenon is eliminated. Finally, this paper designs an adaptive trigger condition verification method to avoid continuously testing event trigger conditions. The proposed method can further save computing resources and improve system control efficiency.