Distributed control of nonlinear stochastic multi-agent systems with external disturbance and time-delay via event-triggered strategy

Abstract In this paper, the distributed event-triggered control (ETC) problems for nonlinear stochastic multi-agent systems (MASs) with external disturbance and time-delay are discussed. The leader-following input-to-state actual exponential mean-square consensus (EMSC) criteria are established in networks containing a directed spanning tree. By devising appropriate Lyapunov-Krasovskii function, sufficient conditions for the model to achieve leader-following input-to-state actual EMSC are obtained. The control gain matrix is designed to realize the controller. The lower bounds of interexecution times are given to show that the Zeno-behavior will not appear. Besides, the validity of theoretical analyses is verified by simulation.