L1 Gain Design of Distributed Event-Triggered Multi-Agent Systems Subject to Input Saturation

Aimed at providing a new avenue to achieve consensus of constraint multi-agent systems, a L-1 gain design method for distributed event-triggered control mechanism is proposed in this paper. Unlike the classical periodical triggering the controller fashion, in our scheme, the controller is activated only when some pre-defined threshold is violated. In this very mechanism, the observer based mechanism is adopted under the output feedback. The convex hull method is introduced to treat the input constraint, and the L-1 gain is selected to be an index to minimize the influence of the disturbance. In the proposed mechanism, the hard constraint is no longer needed to imposed upon the actuator, and thus we can possibly make fuller use of the actuator capacity. Also, we developed results to minimize the frequency of the event-triggered actions.