Discrete Communication and Control Updating in Adaptive Dynamic Event-Triggered Consensus

Abstract

This paper studies the consensus control problem faced with three essential demands, namely, discrete control updating for each agent, discrete-time communications among neighboring agents, and the fully distributed fashion of the controller implementation without requiring any global information of the network topology. Note that the existing related results only meet one or two demands at most, which are essentially not applicable to this problem. In this paper, a novel dynamic triggering condition is first presented, which is independent of the relative information among neighboring agents, providing potential opportunities to conquer the difficulties caused by the interaction of the above-mentioned three demands. Based on the proposed triggering condition, a framework on fully distributed adaptive consensus protocol with discrete communication and control updating is established. The thorough analysis of the adaptive gain is made by introducing a virtual adaptive gain to generate the Lyapunov function candidate, which significantly facilitates the consensus verification. Finally, numerical examples and comparisons are provided to verify the effectiveness of the proposed adaptive dynamic event-triggered protocols.