Adaptive event-triggered group consensus of multi-agent systems with non-identical nonlinear dynamics

Abstract

The paper is concerned with mean-square group consensus for second-order multi-agent systems with non-identical dynamics, where the agents in the same group have the identical dynamics, the agents in the different groups have non-identical nonlinear dynamics. To reduce the update frequency of event-triggered controller, a novel adaptive dynamic event-triggered communication scheme is presented based on the local stochastic sampled information. The proposed event-triggered conditions of the position state and velocity state have be given separately owe to their state ranges may be different, which lead to the position state and velocity state with different event-triggered instants and release intervals. The event-triggered matrices and time-varying event-triggered parameters are introduced into event-triggered conditions, the given event-triggered conditions are detected only at discrete sampled times, which means Zeno behavior can be excluded. A novel distributed protocol is designed based on the neighboring agents information of the position state and velocity state at event-triggered instants. The group consensus issue can be transformed into the convergence problem of the augmented error system. Then some mean-square group consensus criteria can be derived with the help of tools from graph theory and matrix analysis, and the event-triggered matrices can be obtained by solving some linear matrix inequalities. Finally, two numerical examples are employed to show the validity and advantage of the proposed transmission scheme.