Adaptive eventtriggered control for guaranteed cost consensus of multiagent systems
                                                                          DONG Ruihua, XIONG Weihua
                     (Faculty of Mechanical Engineering and Automation, Zhejiang SciTech University, Hangzhou 310018, China)

Abstract: Aiming at the problem of nonlinear dynamics and energy consumption in multiagent systems with leader, the leaderfollowing guaranteed cost consensus under directed fixed topology was studied. Based on the adaptive eventtriggered control scheme, the multiagent systems was transformed into an error system by using model transformation method. By utilizing LyapunovKrasovskii functional, weak infinitesimal operator and linear matrix inequality, sufficient conditions for asymptotic stability of error systems were obtained. Based on this, the guaranteed cost consensus controller gain was obtained, and the corresponding controller was designed to make the multiagent systems achieve the leaderfollowing guaranteed cost consensus. At the same time, it was verified by numerical simulation. The results indicate that the adaptive eventtriggered control scheme can effectively reduce the unnecessary communication transmission between agents and improve the utilization of network resources.

Key words: multiagent systems; eventtriggered; consensus; guaranteed cost; adaptive