Robust H∞ consensus of multi-agent systems with the event-triggered scheme under semi-Markov switching topologies with partially unknown rates

Robust H∞ consensus control of multi-agent systems with the event-triggered scheme and semi-Markov switching topologies with partially unknown rates is investigated in this paper to suppress system uncertainty and external disturbance. By defining the error variable, the consensus problem is firstly converted to the stability problem of the error system. A sampling-data event-triggered protocol is introduced to avoid the continuous communication between agents and co-design the gain of consensus controller and the event-triggered parameters matrix. The external disturbance is considered by both the leader and follower, the sufficient conditions are presented to guarantee the H∞ performance in accordance with linear matrix inequalities. Finally, the suppression of external input disturbance using the proposed method is verified by a numerical example.