Set-Membership Event-Based Node-To-Node Consensus Of Nonlinear Multi-Agent Systems

In this paper, we study the set-membership nodeto-node consensus problem for nonlinear discrete-time multi-agent systems with bounded noises. A set-membership consensus protocol, which is based on a new event-triggered communication mechanism, is presented. The scheduling of sensor information between the leaders' layer and the followers' layer is ruled by the event-triggered mechanism. Sufficient conditions are derived for the existence of the node-to-node consensus protocol and the parameters of the desired consensus protocol are obtained by solving a set of recursive linear matrix inequalities. Finally, two examples are utilized to illustrate the effectiveness of the proposed node-to-node consensus protocol.