Consensus of discrete‐time linear multi‐agent systems with event‐based dynamic feedback scheme

Abstract

The consensus problem of discrete time multi-agent systems with linear dynamic models is investigated. To reduce the controller update times and communication among agents, an event-based dynamic feedback scheme is proposed. For each agent, the controller update instants are determined by a state-dependent threshold. It is shown that the controller update for each agent is only dependent on its own event times. Some sufficient conditions are obtained for consensus. Observing the current states of its neighbour agents as well as its own state at every discrete-time is also avoided. Furthermore, certain conditions are given to exclude the Zeno-like behaviour of the triggering time sequence. Finally, a numerical example is given to illustrate the efficiency of the proposed control strategy.