Event-Driven Multiagent Consensus Disturbance Rejection With Input Uncertainties via Adaptive Protocols

This article focuses on the multiagent consensus disturbance rejection (MCDR) for groups of general linear individuals by using the distributed event-based adaptive control technique. Based on designing disturbance observers, event-driven control rules involving controllers and actuator updating rules are provided for networks of multiple individuals without and with input uncertainties; the updating rules rely on the state-dependent factor, the exponential decay threshold, and a tuning parameter. For both scenarios, the global information of network topologies is not required in the design and continuous communications between agents can be avoided.