A Hybrid Dynamic Event-Triggered Approach to Consensus of Multiagent Systems With External Disturbances

This article addresses the event-triggered consensus problem of multiagent systems (MAS) with disturbances. Model-based control protocols are designed, and a hybrid dynamic event-triggering mechanism (HDETM) is proposed. Based on the proposed event-triggered control protocol, continuous communication between neighboring agents is not needed, and a prespecified strictly positive minimum ETI is guaranteed, i.e., Zeno behavior is excluded. A timer variable with jump dynamics is introduced to describe the HDETM in the closed-loop system. Then, a novel hybrid model is constructed for the closed-loop MAS, which contains both flow dynamics, and jump dynamics. Lyapunov-based stability analysis and HDETM design are presented based on hybrid systems framework, and matrix inequality conditions are given to verify the consensus and H ∞ performance. Finally, a spacecraft formation example is provided to show the effectiveness of the proposed methods.