事件触发下随机非确定线性多智能体的指数同步

研究随机非确定线性多智能体系统在有向拓扑连接下的指数同步问题，为减少不必要的网络带宽资源的浪费，提出一种基于事件触发控制的协议。根据组合测量对系统中的所有节点设计相应的事件触发函数，使得节点之间的控制信号更新仅在事件触发时刻进行。基于Lyapunov稳定性理论和M矩阵理论，得到了多智能体系统指数同步结论，并给出了同步的收敛速度。同时，理论排除了事件触发控制过程中的芝诺（Zeno）现象。数值仿真结果进一步验证了理论分析的有效性。

Event-triggered control for exponential synchronization of linear multi-agent systems with randomly occurring uncertainties

This paper considers exponential synchronization of linear multi-agent systems with randomly occurring uncertainties under directed network. In order to reduce the unnecessary waste of the network bandwidth resource, an event-triggered control protocol is proposed. The protocol establishes corresponding event-triggered function for all agents based on combination measurement, and the controller updates between nodes are performed only at the event-triggered time. Based on Lyapunov stability theory and M matrix theory, the exponential synchronization result is obtained and the convergence rate is given. Zeno phenomenon can be eliminated theoretically in the process of event-triggered control simultaneously. The numerical simulation demonstrates the effectiveness of the theoretical analysis.