Distributed Dynamic Event-Triggered Consensus of Linear Multi-agent Systems with External Disturbances

In this paper, the dynamic event-triggered (DET) consensus problem of general linear multi-agent systems (MASs) with external disturbances is studied. For linear MASs with unavailable states, a distributed DET control strategy based on a sliding mode observer is proposed such that the controller has a positive lower bound on the update time interval. Zeno behavior is also excluded. Furthermore, in order to avoid continuous communication between the agents, an algorithm is proposed to extend the designed DET control strategy to a self-triggered control strategy. Finally, the effectiveness of the theoretical results is verified by numerical simulations.