Adaptive Event-Triggered Control for Nonlinear Multi-Agent Systems with State Time Delay and Unknown External Disturbance

This paper solves the adaptive event-triggered consensus problem for nonlinear multi-agent systems with state time delay and unknown external disturbance. First, the disturbance is estimated by designing a novel adaptive disturbance observer. Next, Lyapunov-Krasovskii functional is utilized to deal with the state delay. Finally, in accordance with the designed event-triggered condition, an adaptive controller is proposed, in which neural networks are applied to approximate the unknown nonlinearity. According to Lyapunov stability theory, it can be proved that nonlinear multi-agent systems can reach consensus under the proposed controller. The simulation validates the theoretical results.