Mitigating Measurement Noise in Event-Triggered Distributed Control: Infinite and Finite Horizon Architectures

This paper addresses the problem of measurement noise in event-triggered distributed control of multiagent systems. In the considered setup, each agent receives the state information from neighboring agents through a fixed, connected, and undirected graph, and the state of each agent is corrupted by measurement noise. To address this challenge, new and novel distributed control architectures predicated on local state observers are proposed in a leader-follower setting for both the infinite and finite horizon cases. The goal of these architectures is to effectively mitigate the effect of measurement noise while reducing agent- to-agent information exchange through event-triggering. The system-theoretical findings for both the infinite and finite horizon cases are presented, which are also numerically validated by two illustrative examples.