Event-triggered $H_{\infty}$ Consensus of Nonlinear Multi-agent Systems with Markovian Switching Topologies

The event-triggered H
_∞
consensus problem for Lipschitz nonlinear multi-agent systems is discussed in this paper. Markovian switching topologies are considered in the signal transmission of different agents. In order to reduce the frequency of controller update, a state-dependent event-triggered communication transmission strategy is adopted. Based on consensus control protocol, the consensus problem is converted to the stability of a class of Markovian jump systems. Then by using Lyapunov-Krosovskii functional method and the weak infinitesimal operation, an H
_∞
consensus criterion can be derived. According to this consensus criterion, the H
_∞
consensus controller gains are obtained by solving linear matrix inequalities. Finally, the effectiveness of proposed method is demonstrated by a numerical example.