Distributed Event-Triggered Adaptive Control for Consensus of Linear Multi-Agent Systems with External Disturbances

This paper investigates the consensus problem of linear multi-agent systems subject to external disturbances via distributed event-triggered adaptive control. First, a distributed event-triggered adaptive output feedback control strategy is proposed for each agent. It is shown that under this control strategy, the consensus problem can be solved for any connected undirected communication graph in a fully distributed manner without using any global information. Then a distributed self-triggered adaptive output feedback control strategy is designed with which continuous monitoring of the measurement error is no longer needed. It is further shown that for the proposed event-triggered and self-triggered control strategies, no agent will exhibit Zeno behavior. Finally, the effectiveness of the proposed two control strategies is illustrated on a group of two-mass-spring systems.