Event-triggered Leaderless Robust Consensus Control of Nonlinear Multi-agents under Disturbances

In this study, an event-triggered (ET) mechanism is investigated as a leaderless consensus control mechanism for nonlinear multi-agent systems (MASs) that are subjected to disturbances. An ET strategy with a dynamic threshold parameter has been developed for the purpose of achieving a high control bandwidth efficiency. We developed a design scenario for a consensus controller that ensures global stability under disturbances while simultaneously estimating consensus protocol gains, choosing ET mechanism configuration setting, and picking an appropriate adaptation criterion for ET control. A robust consensus controller for MASs under disturbances is designed with a fully distributed ET scheme and the steady state error boundedness region is also investigated in this work.