Fully Distributed Event-Triggered Consensus of MIMO MASs With Parametric Uncertainties and External Disturbances

This article studies the consensus problem of a class of multi-input–multi-output (MIMO) multiagent systems (MASs) subject to parametric uncertainties and external disturbances via a fully distributed model reference adaptive event-triggered control (MRA-ETC) protocol. Incorporate both the MRA and ETC, a reference model using the predicted relative state information initialized by intermittently collected state information of neighbors as input and a self-contained adaptive estimator of uncertainties are constructed, where the transmitted information is asynchronous and intermittent. We consider both the cases of matched and unmatched external disturbances, where each agent is assigned a reference model to track. Asymptotic consensus is achieved for the case of matched disturbances by using the sliding-mode control, while for the case of unmatched disturbances, the uniformly ultimately bound consensus is obtained via the adaptive $\sigma$ -modification technique. The communication resources have been significantly saved via the proposed event-triggered mechanism (ETM) with strictly excluding the Zeno behavior. Moreover, with the help of the designed adaptive control gains for the reference models, the consensus algorithm can be implemented in a fully distributed fashion without employing any global information of the MASs. Finally, the simulation examples are illustrated to show the correctness of the proposed control schemes.