Consensus of nonlinear MAS via double nonidentical mode-dependent event-triggered switching control

This paper investigates the global exponential consensus almost surely (GEC a.s.) of non-linear multi-agent system (MAS) with switching topology via double nonidentical mode -dependent event-triggering mechanisms (ETMs). Considering the activated probability of switching modes, the transition probability (TP) and mode-dependent average dwell time (MDADT) are combined to propose a more practical switching rule. To save communication resources as much as possible, a set of nonidentical mode-dependent ETMs are designed, where the ETMs of each node are nonidentical and the ETM for controller-actuator (C-A) channel is designed on the basis of ETM for sensor-controller (S-C) channel. By designing a new Lyapunov-Krasovskii functional (LKF), sufficient conditions are derived to ensure the GEC a.s. of nonlinear MAS and the control gains are obtained by solving linear matrix in-equalities (LMIs). Usually, the increment coefficient of LKF at switching instant must be larger than one, which will lead to conservatism. Our results remove this constraint con-dition and do not require each mode of the consensus error system to be stable. A numer-ical example is provided to demonstrate the effectiveness and feasibility of the theoretical analysis.(c) 2023 Elsevier Inc. All rights reserved.