Improved Extended State Observer-Based Consensus Control for Stochastic Multiagent Systems via Dual-Terminal Event-Triggered Mechanism

For a class of uncertain nonlinear stochastic multiagent systems, a consensus control strategy is proposed with an adjustable-time-varying-gain-based event-triggered extended state observer (ATVG-ETESO) via dual-terminal event-triggered mechanism (DTETM). The ATVG-ETESO estimates internal uncertainties and external stochastic disturbances. Its adjustable time-varying gain avoids peaking phenomenon at the initial stage and accelerates estimation error convergence. A DTETM with an adaptive threshold reduce communication burdens on both the input and output channels of the ATVG-ETESO. Theoretically, both the ATVG-ETESO estimation errors and the state consensus errors are bounded. Finally, two illustrative simulation examples are given to illustrate the effectiveness of the control strategy.