Extended State Observer‐Based Bounded Consensus for Nonlinear Multiagent Systems via Event‐Triggered Impulsive Control

ABSTRACT The bounded consensus problem for a class of nonlinear multiagent systems under unmeasurable states is achieved by the event‐triggered impulsive mechanism. In the Extended State Observer (ESO) design, the observer is designed to reconstruct states information of unmeasurable multiagent systems and the bounded disturbance term is assumed to be an unmeasurable dilated state component. Then, the dilated state observer is designed for antidisturbance treatment. Based on the event‐triggered impulsive control method, the suitable Lyapunov functions are constructed, the triggering functions are derived, and sufficient conditions for achieving bounded consensus are obtained. The consensus error is shown to be no more than a nonzero bound. Furthermore, Zeno behavior is excluded. Numerical tests are put forward to verify the validity of the proposed method.