A robust hybrid triggered mechanism for consensus control of multi-agent systems under directed graphs

This paper intends to address the consensus problem of general linear multi-agent systems with unknown disturbances. To save resources and ensure robustness to unknown disturbances, a hybrid time-dynamic event triggered mechanism is designed, under which the time triggered mechanism is utilized to determine the explicit lower bound of inter-event time and a dynamic event-triggered mechanism is introduced to further avoid redundant triggering actions. Unlike most existing relevant literature, the stability analysis of systems and the procedure for the choice of parameters do not rely on conditions to which the existence of solutions is not proved. In addition, by the decomposition of weight-unbalanced directed graphs coupled with graph theory and matrix theory, the obtained results could be extended from strong strongly connected graphs to more general directed graphs only containing a spanning tree. Then, the corresponding robust asynchronous variable period sampling control strategy is also derived to avoid the continuous detection of triggering conditions. Finally, the effectiveness of the proposed algorithm is verified on the spacecraft formation flying problem.