Consensus of linear multi-agent systems via fully distributed event-triggered protocols

Abstract

This paper considers the distributed event-triggered consensus problem for linear multi-agent systems. Distributed event-based protocols, consisting of the event-based control laws and the triggering functions, are designed, under which the consensus error is asymptotically stable and the Zeno behavior can be excluded. Compared to the previous related works, our main contribution is that we propose a fully distributed adaptive event-triggered consensus protocol, independent of the network's scale and relying on none global information of the network graph. Based on the event-triggered strategy, continuous communications are not required for either control laws updating or triggering functions monitoring. Simulation examples are presented to illustrate the effectiveness of the theoretical results.