A Novel Dynamic Event-Triggered Control Approach to Multi-agent Systems With Disturbance Observers

This paper studies the event-triggered consensus problem of multi-agent system with general linear dynamics. A novel dynamic event-triggered strategy is proposed, and it is formally shown that the proposed dynamic event-triggered strategy can achieve larger triggering intervals than the existing ones. Then, a state observer and a disturbance observer based on the local state information are developed. By using the observers' states at event time instants, a distributed control protocol is proposed to reject the disturbances. Based on the proposed dynamic event-triggered strategy and control protocol, Lyapunov-based analysis is provided to show that the consensus can be achieved. In addition, by adding an exponential term into the triggering condition, Zeno behavior can be ensured to be excluded. Finally, the effectiveness of the proposed methods is illustrated by a numerical example.