AUTHOR=Li Xiang , Zhu Jing 

TITLE=Self-Triggered Control of Multi-Agent Systems With External Disturbances

JOURNAL=Frontiers in Control Engineering

VOLUME=3

YEAR=2022

URL=https://www.frontiersin.org/journals/control-engineering/articles/10.3389/fcteg.2022.835052

DOI=10.3389/fcteg.2022.835052

ISSN=2673-6268

ABSTRACT=<p>This paper investigates the consensus of multi-agent systems (MASs) by virtue of event-triggered mechanism. Considering the existence of external disturbances, we use a disturbance observer to estimate the disturbance signals and eliminate the corresponding effects by using estimators to compensate the input control terms. The self-triggered condition is designed and proved that there is no Zeno behavior. We show that the proposed disturbance observer can estimate the external disturbance signals well under the self-triggered condition. Finally, simulation examples are presented to verify the theoretical results.</p>