Event-triggered guaranteed cost consensus for uncertain nonlinear multi-agent systems with time delay

Finite-time guarantee-cost H∞ consensus control of second-order multi-agent systems based on sampled-data event-triggered mechanisms

This study presents a solution to the challenges of tracking consensus and guarantee-cost H∞ control in a specific set of second-order multi-agent systems with external disturbances. A proposed event-triggered control method based on periodic sampling data is presented for second-order multi-agent systems that include external disturbances. In contrast to the real-time monitoring of system state information used in the previous event-triggered mechanism, this approach collects system state information through periodic sampling. This ensures that the interval between two consecutive triggering moments is at least one sampling cycle, thereby preventing the controller from triggering infinitely within a finite time frame. A finite-time controller based on the sampled-data event-triggered mechanism is designed, and sufficient conditions to ensure the finite-time stability of the closed-loop system at a specified attenuation level are established using theoretical methods such as matrix analysis. For the given sampled-data event-triggered control protocol with a finite-time controller, a quadratic guarantee-cost function is introduced, and by designing control inputs and determining the parameters such as the finite-time upper bound T∗ and the H∞ performance index γ , the exact value of the upper bound of the system's guarantee-cost function under the action of the designed controller is derived. Finally, the feasibility of the proposed control scheme is verified through numerical simulation.