In this paper, the event-triggered consensus for linear discrete-time multi-agent systems with parameter uncertainties is investigated. The parameter uncertainty is assumed to be norm-bounded. An event-triggered consensus protocol based on the predictive control method is proposed to make the multi-agent system achieve consensus. And for the design of the consensus protocol, the problem of estimating the control input is transformed into the problem of estimating state differences between agents. Furthermore, the event-triggered consensus protocol proposed in this paper only demands each agent to mornitor its state to determine its event-triggered instants. A sufficient existence condition for the consensus protocol is proposed based on the linear matrix inequality. And a sufficient condition for the nonexistence of the Zeno-like behaviour is also derived. Finally, a numerical example is given to illustrate that the event-triggered consensus protocol proposed in this paper can make the multi-agent system with parameter uncertainties achieve consensus effectively.

中文翻译：

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基于预测控制方案的参数不确定离散多代理系统的事件触发共识

本文研究了具有参数不确定性的线性离散时间多智能体系统的事件触发共识。假设参数不确定性是有界的。提出了一种基于预测控制方法的事件触发共识协议，以使多智能体系统达到共识。并且对于共识协议的设计，估计控制输入的问题被转换为估计代理之间的状态差异的问题。此外，本文提出的事件触发共识协议仅要求每个代理监视其状态以确定其事件触发时刻。提出了基于线性矩阵不等式的共识协议的充分存在条件。并为不存在Zeno行为提供了充分条件。最后通过算例说明了本文提出的事件触发共识协议可以使具有参数不确定性的多智能体系统有效地达成共识。