Decentralized Event-triggered Communication for Consensus of Uncertain Multi-agent Systems

Abstract

This paper proposes a novel decentralized event-triggered algorithm for consensus of uncertain multi-agent system under an undirected graph. The event-triggered controller does not rely on continuous communication among agents. Each agent only needs to monitor its own state continuously to determine when to trigger an event and broadcast its states to its neighbors. We show that, under the proposed algorithm, events cannot be triggered an infinite number of times in any finite period (i.e.no Zeno behavior). Simulation results are given to illustrate the theoretical analysis and show the advantages of the event-triggered controllers proposed in this paper.