Centralized dynamic event-triggered control for multi-agent systems

Abstract

This paper studies the consensus problems of multi-agent systems with new dynamic centralized event-triggered mechanism. Event-triggered control laws are adopted so as to reduce the frequency of individual control updating since the agents may be resource-limited in many real systems. The discrete time instants where the events are triggered are determined by a trigger function with respect to a certain measurement error. And the new dynamic centralized event-triggered mechanism is featured by introducing an internal dynamic variable, which is the engine of the of dynamic event-triggered algorithm. The triggering conditions of the agents are not only affected by the current states and the state measurement error of the agents but also those previous ones. And the event-triggered condition is more maneuverability. A Lyapunov function is used to prove the consensus of the multi-agent system under the dynamic event-triggered control. Finally, the effectiveness of the proposed protocol is illustrated by simulations.