Lag-bipartite consensus control of nonlinear multi-agent systems with exogenous disturbances via dynamic event-triggered strategy

Abstract

This paper explores the lag-bipartite consensus issue for nonlinear multi-agent systems with external disturbances via event-triggered mechanisms. Firstly, a disturbance observer is devised to offset disturbances induced from ambient noise or parameter uncertainties. To save needless communication among neighbor agents and enhance the system’s anti-disturbance abilities, the centralized event-based approach and a distributed dynamic event-triggered control scheme with internal dynamic parameters are raised via combining the disturbance compensation strategy, respectively. Unlike existent static triggering approaches, this dynamic triggering scheme widens interval duration between two successive triggering instants. On the basis of both control schemes, a few sufficient conditions are provided to reach lag-bipartite consensus for nonlinear multi-agent systems, while Zeno behavior cannot arise via developed triggering rules. Finally, the validity of presented schemes is illustrated under numerical examples.