Robust Integrated Adaptive Event-Triggered Protocols for Multi-Agent Systems

This article studies the robust adaptive eventtriggered consensus problem for multi-agent systems. A robust event-triggered adaptive protocol, incorporating an eventtriggered scheme, is proposed. The protocol enables adaptive tuning of the control gain matrix through intermittent update mechanisms, thereby ensuring control flexibility while also reducing the frequency of control updates. It is proved theoretically that the ultimate boundedness of the consensus error can be guaranteed based on the proposed protocol. The effectiveness of the proposed approach is demonstrated by a numerical example.