Zeno-Free Stochastic Distributed Event-Triggered Consensus Control for Multi-Agent Systems
Kam Fai Elvis Tsang, Junfeng Wu, Ling Shi · 2019
This paper investigates the problem of multiagent consensus control with input disturbances. We propose a stochastic distributed event-triggereing law, based on an existing deterministic law, for the said problem. It is shown that both event-triggering laws achieve practical consensus exponentially fast under the influence of disturbance. We further derive an analytical upper bound for the consensus error and show that the stochastic law excludes Zeno behavior. A numerical simulation is also provided to illustrate the proposed consensus control law compared with the deterministic law.