Non-fragile consensus control for nonlinear singular multi-agent systems: An event-triggered sampling scheme

This paper is devoted to the problem of non-fragile consensus control for a class of nonlinear singular multi-agent systems based on an event-triggered control strategy. To reduce the resource occupancy, a decentralized event-triggered sampling consensus control protocol for each agent is proposed, which does not require continuous communication among agents. Analysis of non-fragile consensus problem in the multi-agent systems is transformed into asymptotical stability issues of some lower dimensional subsystems via nonsingular transformation. Using the Lyapunov theory, sufficient conditions are obtained such that for all possible norm-bounded parameter variations in the protocol gains, the designed protocol can bring all agents’ states to a point of agreement. Furthermore, the corresponding protocol design method is also given. Numerical examples are included to illustrate the effectiveness of the derived results.