A fully distributed event-Triggered control approach to leader-following consensus of multiagent systems

Abstract

This paper investigates the leader-following consensus problem for general linear multiagent systems under a fully distributed manner. To avoid using the global information of the communication network, two node-based adaptive parameters are designed and introduced to the fully distributed event-based control law. Such a protocol is more scalable and flexible for large-scaled and complex networked system, such as microgrids or multiple unmanned vehicles. A novel event-triggered rule is presented, and an internal dynamic variable is introduced in it to further cut down the triggering times and save the communication resources. A well-designed Lyapunov function candidate is constructed to not only ensure the convergence of the close-looped systems but also avoid using the eigenvalue of Laplacian matrix in the dynamic variable. Moreover, it is proved that the designed event-triggered conditions can avoid the Zeno behaviour. Finally, a simulation example based on a group of unmanned intelligent vehicle systems is provided to demonstrate the validity of the designed control method.