Distributed Event-Triggered Consensus of Uncertain Multi-Agent Systems Under a Directed Graph

In this paper, the distributed event-triggered consensus control of uncertain multi-agent systems (MASs) under a directed graph is investigated, where the information transmission among agents is intermittent and asynchronous. Firstly, to eliminate the influence of the nonlinear uncertainties and reduce the communication burden among the agents, we employ the model reference adaptive consensus (MRACon) technique, where a reference model with the predicted relative state information initialized by intermittently collected state information of neighbors as input is introduced for each agent to track. An adaptive consensus algorithm is designed such that the uncertain MAS under a directed graph reaches consensus asymptotically. A novel graph-based Lyapunov functional is proposed to guarantee the correctness of theoretical analysis. Moreover, a lower bound of the minimum transmission interval is obtained for each agent, and thus the Zeno behavior is strictly ruled out. Finally, the effectiveness is verified by a simulation example.