In this note, robust consensus for a class of nonlinear second-order multiagent systems with uncertainties is investigated from an event-triggered control approach. An event-triggered distributed control protocol is designed to achieve semiglobal robust leaderless consensus for directed graphs. To guarantee the feasibility of the proposed scheme, the event-based consensus is converted to an event-based stabilization for analysis. Zeno behavior is avoided under the proposed event-triggered mechanism. The effectiveness of the proposed event-triggered scheme is demonstrated by numerical simulations.

中文翻译：

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一类非线性不确定多智能体系统半全局鲁棒共识的事件触发控制

在本说明中，从事件触发控制方法研究了一类具有不确定性的非线性二阶多智能体系统的稳健一致性。事件触发的分布式控制协议旨在实现有向图的半全局鲁棒无领导共识。为了保证所提出方案的可行性，将基于事件的共识转换为基于事件的稳定性进行分析。在提议的事件触发机制下避免了 Zeno 行为。数值模拟证明了所提出的事件触发方案的有效性。