Robust Event-Triggered Consensus of Uncertain Network Systems

In this paper, we study the robust consensus problem of the event-triggered network system subject to additive dynamic uncertainties. It is found that the sampling errors resulted by event triggering are essentially images of linear finite-gain L-2 stable operators acting on the consensus errors of the sampled outputs and the event-triggered mechanism is equivalent to a negative feedback loop introduced additionally to the feedback system. Quantitative relationships among the parameters of the controllers, the Laplacian matrix of the network topology, and the robustness against aperiodic event triggering and frequency-domain uncertainties are uncovered. Simulation examples are also provided to verify the obtained results.