Consensus of input constrained linear multi-agent systems by centralized event-triggered strategy with directed networks

Abstract

In this paper, a novel event-triggered-based consensus control scheme for linear multi-agent systems with input saturation under directed communication topology is proposed. First, a centralized event-triggered mechanism that utilizes global information of the whole system is proposed. Second, a consensus control protocol is investigated based on the designed centralized event-triggered mechanism. It is proved that under the designed control procedure, the consensus of all the agents can be reached with input saturation. Furthermore, there is an adjustable positive lower bound greater than zero of the minimum inter-event time which makes it easier to adjust the control performance of the multi-agent systems. In the end, the advantage of the proposed control protocol is verified by the numerical simulations.