Adaptive Memory Event-triggered Control for Multi-agent Systems under External Disturbance

This paper investigates the event-triggered consensus problem of nonlinear multi-agent systems (MASs) with Lipschitz functions under external disturbance in an undirected communication topology. To save communication resources, an adaptive memory event-triggered mechanism (AMETM) is proposed, whose threshold can change dynamically with the state of the system and exclude Zeno behavior. Based on this mechanism, two anti-disturbance control strategies based on disturbance observer and disturbance compensation mechanism are designed, respectively, and the existence of a buffer can maintain a certain performance when the control channel is blocked (such as when cyber attacks occur). Finally, simulation results show the effectiveness of the proposed method.