Event-based H_∞ consensus tracking for multi-agent systems under switching networks

This paper systematically investigates consensus tracking of linear multi-agent systems with disturbances over directed switching topologies. Both state and output feedback H_∞ controllers are jointly synthesized with the triggering mechanism. First, a state-based event-triggered H_∞ controller design for achieving consensus tracking is carried out, which can result in settling the occurrence of disturbances and the reduction of controller updates as well as averting Zeno behavior. Considering the case that only output information of agent is required, an event-triggered H_∞ output feedback controller is then proposed and sufficient condition for the solvability of consensus tracking problem are also derived. Compared with the existing results, the effects of disturbances on directed switching topologies can be tackled when continuous communication and full-state information of the agent are not needed. Numerical simulation are finally conducted to illustrate the effectiveness of the proposed methods.