Enhancing Event-Separation Properties for Event-Triggered Consensus with Disturbances

In the event-triggered control of multi-agent systems (MASs), external disturbances are prevalent in practice and may lead to excessive triggering events (often referred to as Zeno behavior), which poses problems for practical implementation. Therefore, it is essential to enhance event-separation properties when the MAS is subjected to disturbances. In this context, this article is concerned with the event-triggered consensus of MASs in the presence of external disturbances. Distributed dynamic event-triggered (DET) control strategies are proposed based on the sampled information of neighboring agents. It has been theoretically demonstrated that, under the designed DET sampling strategies, the MAS can achieve bounded consensus and strictly positive minimum inter-event times are guaranteed. The effectiveness of the theoretical results is validated by numerical results.