ℌ ∞ Consensus of a Multi-agent System Using Sampled-data Based Event-triggered Mechanism

Abstract

This paper proposes a ℌ ∞ consensus controller for linear multi-agent systems (MASs) with N number of agents using a sampled-data based event-triggered mechanism. This mechanism allows the event-trigger condition to be intermittently examined at constant sampling instances. The proposed controller utilises the state information from neighbouring agents. The sufficient conditions of stability of the multi-agent system and the conditions for the ℌ ∞ performance are derived using the Lyapunov approach. The performance of the proposed control strategy is illustrated via simulations using an example of maritime container terminal operation under stress. The obtained simulation results demonstrate the capability of the proposed ℌ ∞ sampled-data based event-triggered consensus controller to assure safe execution considering the operational limits of the modelled system.