A Dynamic Event-Triggered Control Approach to Leader-Following Consensus for Linear Multiagent Systems

Abstract

This article focuses on the leader-following consensus for linear multiagent systems under a directed communication topology. A novel dynamic event-triggered mechanism is put forward to schedule the interagent communication. It removes the assumption that each agent has to broadcast continuously, and therefore resource consumption is reduced significantly. Different from the existing event-triggered mechanisms, the proposed mechanism involves internal dynamic variables that play an important role in excluding Zeno behavior. Then, an event-based distributed control protocol is developed by using locally triggering data. It is proven that the leader-following consensus is achieved under our control strategy. Moreover, the criterion for designing a desired triggered mechanism and the control protocol is derived in terms of linear matrix inequalities. Numerical simulations demonstrate that the proposed strategy is capable of reducing communication more effectively than the existing results.