Abstract: In this paper, a new kind of distributed event-triggered control strategy is proposed for the consensus of general linear uncertain multi-agent systems. By considering the state uncertainty, input uncertainty and external disturbance in the control model, the event-based control algorithm and event-triggered condition are designed. Using Lyapunov stability theory, it is proved that the bounded consensus can be achieved for all agents. Finally, a numerical example is given to verify the theoretical result. The specific structure is as follows: for a class of systems with state uncertainty and input uncertainty, a distributed event-driven control algorithm is designed. Furthermore, for each agent, the algebraic Riccati equation is used to derive the distributed event-driven conditions. It is proven that the asymptotical consensus can be achieved by Lyapunov stability theory. Finally, a class of aircraft systems are taken as an example to demonstrate the effectiveness of the proposed method.

Key words: Linear uncertain systems, event-triggered control, consensus

摘要： 基于分布式事件驱动控制策略，研究了一般线性不确定多智能体系统的一致性问题。模型设计时，同时考虑了系统状态不确定，输入不确定和外部扰动等多重因素的影响，并依此设计了基于事件驱动的控制算法和驱动条件。利用李雅普诺夫稳定性理论证明了系统最终可以实现有界一致性，并排除了Zeno现象。最后，通过数值仿真验证了理论结果。具体结构为：基于一类具有状态不确定和输入不确定的系统，设计分布式事件驱动算法，同时还考虑了环境扰动的影响；进一步对于每个智能体，采用代数 Riccati 方程给出了分布式事件驱动条件。利用 Lyapunov 稳定性理论证明了系统渐进一致性的实现。最后，以一类飞行器系统为例仿真验证了方法的有效性。

关键词: 线性不确定系统, 事件驱动控制, 一致性