Event-Triggered Consensus of T–S Fuzzy Positive Multi-Agent Systems Based on Compensator and Disturbance Observer

Abstract

This paper investigates the consensus of T–S fuzzy positive multi-agent systems by combining compensator and disturbance observer. First, a fuzzy compensator and a disturbance observer are proposed for the systems. Then, a fuzzy event-triggered control protocol is designed by using an event-triggered compensator information and adding an additional constant term. A novel practical consensus framework is constructed by integrating the constant term into error dynamic variables. Moreover, fuzzy copositive Lyapunov function and linear programming are employed to analyze the consensus and design the control protocol, respectively. Under the designed control protocol, all states of agents converge to a bounded scope rather than fixed finite values. The main contributions lie in that (i) A positive compensator and a positive disturbance observer are presented, (ii) A practical consensus protocol is established and the corresponding results are more practicable than existing asymptotic consensus, and (iii) Linear programming is utilized for the protocol design and it has less computational burden than other approaches. Finally, an example is provided to verify the effectiveness of the proposed design.