Consensus of multi-agent system with disturbance based on dynamical event-triggered control

Sijiao Sun; Chengyi Jia; Fang Han; Sijiao Sun; Chengyi Jia; Fang Han

doi:10.3934/era.2026104

Electronic Research Archive

2026, Volume 34, Issue 4: 2303-2320. doi: 10.3934/era.2026104

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Research article

Consensus of multi-agent system with disturbance based on dynamical event-triggered control

1.
School of Information and Intelligent Sciences, Donghua University, Shanghai 201620, China
2.
School of Mathematics and Statistics, Ningxia University, Yinchuan 750021, China

Received: 08 January 2026 Revised: 28 February 2026 Accepted: 02 March 2026 Published: 16 March 2026

This study addresses the consensus problem of multi-agent systems (MAS) subject to external disturbance. Considering the presence of external disturbance factors, a theoretical analysis of consensus for distributed MAS is conducted. First, a state observer and an adaptive disturbance observer are designed to estimate both the node states and disturbance states of each agent in the system. Subsequently, a dynamic event-triggered control strategy is formulated based on the estimated values from the observers. Notably, the dynamic event-triggered strategy incorporates dynamically adjustable parameters, offering enhanced flexibility compared to conventional static event-triggered strategies. Using Lyapunov stability theory and inequality techniques, sufficient conditions for achieving consensus in disturbed MAS are derived. Finally, a numerical example is provided to demonstrate the effectiveness of the observers, control strategies, and theoretical results. This work provides new solutions for the consensus control of heterogeneous MAS with external disturbance, where both the obsever and the dynamic event-triggered controller are equipped with adjustable parameters, rendering the approach more practical for real-world applications.
- multi-agent systems,
- disturbance rejection,
- dynamic event-triggered control,
- adaptive control,
- consensus
Citation: Sijiao Sun, Chengyi Jia, Fang Han. Consensus of multi-agent system with disturbance based on dynamical event-triggered control[J]. Electronic Research Archive, 2026, 34(4): 2303-2320. doi: 10.3934/era.2026104

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Abstract

This study addresses the consensus problem of multi-agent systems (MAS) subject to external disturbance. Considering the presence of external disturbance factors, a theoretical analysis of consensus for distributed MAS is conducted. First, a state observer and an adaptive disturbance observer are designed to estimate both the node states and disturbance states of each agent in the system. Subsequently, a dynamic event-triggered control strategy is formulated based on the estimated values from the observers. Notably, the dynamic event-triggered strategy incorporates dynamically adjustable parameters, offering enhanced flexibility compared to conventional static event-triggered strategies. Using Lyapunov stability theory and inequality techniques, sufficient conditions for achieving consensus in disturbed MAS are derived. Finally, a numerical example is provided to demonstrate the effectiveness of the observers, control strategies, and theoretical results. This work provides new solutions for the consensus control of heterogeneous MAS with external disturbance, where both the obsever and the dynamic event-triggered controller are equipped with adjustable parameters, rendering the approach more practical for real-world applications.

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