Disturbance observer-based consensus of leader-following multi-agent systems via aperiodic intermittent distributed event-triggered control

This article investigates a class of consensus problems of leader-following multi-agent systems with unknown external disturbance. A disturbance observer for a type of a leader-following multi-agent system with unknown external disturbance is designed to estimate external disturbance. An aperiodic intermittent distributed event-triggered control protocol is proposed on the basis of the estimated external disturbance information and local relative information. By constructing an appropriate Lyapunov function on the basis of Lyapunov stability theory, sufficient conditions for achieving the consensus control of the leader-following multi-agent system with unknown external disturbance are obtained. Furthermore, the designed aperiodic intermittent event-triggered control protocol is demonstrated to be able to avoid Zeno behavior. Finally, a numerical example is given to verify the feasibility of the theoretical results.