Reset Observer-Based Zeno-Free Dynamic Event-Triggered Control Approach to Consensus of Multiagent Systems With Disturbances
Guanglei Zhao, Changchun Hua, Xinping Guan
Abstract
In this article, we investigate the observer-based event-triggered consensus problem of multiagent systems with disturbances. A reset observer consisting of a linear observer and reset element is proposed, the reset element endows the reset observer the ability to improve transient estimation performance compared with traditional linear observers. A hybrid dynamic event-triggering mechanism (ETM) is proposed, in which an internal timer variable is introduced to enforce a lower bound for the triggering intervals such that Zeno-free triggering can be guaranteed even in the presence of disturbances. Then, in order to describe the closed-loop system with both flow dynamics and jump dynamics, a hybrid model is constructed, based on which the Lyapunov-based consensus analysis and dynamic ETM design results are presented. In contrast with linear observer-based consensus protocols and the existing dynamic ETMs, the system performance can be improved and continuous communication between neighboring agents is not needed. Finally, a simulation example is provided to show the effectiveness of the proposed methods.