Fully Distributed Event-Triggered Consensus of Linear Multi-Agents Systems With Input Delay and Unknown Disturbance

This paper focuses on the fully distributed event-triggered linear multi-agents issue with network delay and external disturbance. Based on the designed observer, slide mode control theory is introduced to deal with the unknown disturbance. Compared with the previous related works, the deterministic sinusoidal disturbance is no longer needed, and a known network delay is introduced for practical reasons. Without requirement of global information and Zeno behavior, the event-triggered consensus protocol is exported, which is fully distributed. By utilizing a 4 nodes multi-agents system simulation, we attested the validity of our control laws.