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Abstract
This paper presents the communication strategy for second-order multi-agent systems with nonlinear dynamics. To address the problem of the scarcity of communication channel resources and get rid of using continuous signals among the followers in lead-follower multi-agent systems, a novel event-triggered communication mechanism is proposed in this paper. To avoid employing the centralized information that depends on the Laplacian matrix spectrum, a network protocol with updated coupling gains is proposed, as well as an event-triggered strategy with updated thresholds. To eliminate the ill effects of inter-node communicating noise, relative positions are employed by the protocol instead of absolute positions. By a Lyapunov–Krasovskii functional, it is rigorously proven that the leader-following consensus of MASs is achieved without Zeno behavior, under the control of the proposed protocol with an event-triggered mechanism communication. The effectiveness of the proposed protocol is verified through numerical examples.
Highlights
Over the last decade, ever-increasing research trends concentrate on the studies of multi-agent systems (MASs)
Sensors 2021, 21, 4059 (b) A fully distributed consensus protocol for second-order MASs with nonlinear dynamics is designed, which is based on event-triggered sampled data interacting information among agents
The overall framework of the proposed event-triggered transmission strategy is illustrated in Figure 1, which will be explained in the following subsections
Summary
Ever-increasing research trends concentrate on the studies of multi-agent systems (MASs). [17] proposes two event-triggered condition functions: one for reducing control updates and the other for avoiding continuous communication among agents. Centralized information depending on the spectrum of the Laplacian matrix is required when design an ETM control protocol. See Remark 2 in [17], Equation (11) in [19], and Theorem 2 in [20], to name but a few This means that the ETMs and control protocols are based on the assumption that each agent knows the overall communication topology. Motivated by the existing literature, in this paper, the ETM consensus protocol that is free of centralized information depending on the spectra of the Laplacian matrix is investigated. (b) A fully distributed consensus protocol for second-order MASs with nonlinear dynamics is designed, which is based on event-triggered sampled data interacting information among agents.
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