Leader-Following Consensus of Multi-Agent Systems With Disturbances and Input-Output Delays via a Periodic Event-Triggered Control

The periodic event-triggered output-feedback control in this article is proposed to solve the consensus problem of multi-agent systems, which is in the presence of disturbances and input and output delays. First, the predictor-based-extended state observer is designed by the prediction technique which can be used to estimate the state and disturbances. Then, with the aid of the disturbance/uncertainty estimation and attenuation method, the disturbance rejection and robustness of multi-agent systems can be effectively enhanced. In particular, the proposed observer is designed to obtain the inter sample output dynamics when only the delayed sampled-data measurement output is known. By using the small-gain arguments, some sufficient conditions are derived to guarantee that the consensus errors converge to zero exponentially. Finally, the validity of the theoretical results is demonstrated through a simulation example.