This article is concerned with the fully distributed consensus control problem of a class of disturbed general linear multi-agent systems under event-triggered communication. Different from existing works, the disturbances considered in this article are more practical and complex. Each agent is subject to disturbances generated by exosystems and each exosystem is considered to exist with possible modelling errors. First, a local disturbance observer is designed for each agent to compensate potentially unbounded external disturbances to a bounded situation, but the value of this bound is not accessible because the upper bound of the modelling error is unknown. Second, an adaptive consensus control law with complete disturbance rejection is further proposed, by which the consensus error converges to zero over time. Third, with limited communication resources, an event-triggered communication mechanism is designed for deciding when an agent broadcasts information, which effectively saves communication resources while ensuring that the original control goal is achieved. In addition, it is demonstrated that Zeno behaviour is excluded. Finally, the correctness of the theoretical results is verified by a simulation example.

中文翻译：

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一类受扰线性多智能体系统事件触发通信的全分布式一致性控制

本文研究事件触发通信下一类受扰的一般线性多智能体系统的全分布式一致性控制问题。与现有的工作不同，本文考虑的扰动更加实际和复杂。每个智能体都会受到外系统产生的干扰，并且每个外系统都被认为存在可能的建模错误。首先，为每个智能体设计一个局部扰动观测器，以将潜在的无界外部扰动补偿到有界情况，但由于建模误差的上限未知，因此该界值不可访问。其次，进一步提出了一种完全抑制干扰的自适应一致性控制律，随着时间的推移，一致性误差收敛到零。第三，在通信资源有限的情况下，设计了事件触发的通信机制来决定Agent何时广播信息，在保证达到原有控制目标的同时，有效节省了通信资源。此外，还证明了芝诺行为被排除。最后通过仿真算例验证了理论结果的正确性。