Consensus of linear multi-agent systems by distributed event-triggered strategy with designable minimum inter-event time

Abstract

This paper investigates the consensus problem of multi-agent systems under the event-triggered control with designable minimum inter-event time, in which each agent has an identical linear dynamic model. The goal is to devise a novel control method which can not only reduce actuator consumption but also guarantee the state consensus of the controlled systems. Two event-triggered mechanisms are considered, namely, the static event-triggered mechanism and the dynamic event-triggered mechanism. To this end, a novel distributed static event-triggered control algorithm is presented at first. Then the distributed dynamic event-triggered control algorithm is developed. The major superiority of the presented distributed static and dynamic event-triggered control algorithms is that the controller of each agent is only triggered at its own event time, which effectively reduces the update frequency of the controller in practice. Further, the minimum inter-event time is adjustable by the parameter of the parametric Lyapunov equation, which makes it easier to find a trade-off between the inter-event times and the control performance of the controlled system. Subsequently, it is proved that the consensus of the multi-agent systems is reached asymptotically and non-occurrence of the Zeno phenomenon is proved. The superiority of the designed algorithms is testified by the simulation.