Abstract
This paper discusses the event-triggered consensus problem of multiagent systems. To investigate distributed event-triggering strategies applied to general linear dynamics, we employ a dynamic controller to convert the general linear dynamic to the single-integrator model by a change of variable. The consensus value of these new states is a constant so that the distributed event-triggering scheme is obtained under periodic event detections, in which agents with general linear dynamics require knowledge only of the relative states with their neighbors. Further, an event-triggered observer is proposed to address the case that only relative output information is available. Hence, the consensus of both the state-based and observer-based cases is achieved by the distributed event-triggered dynamic controller. Finally, numerical simulations are provided to demonstrate the effectiveness of theoretical results.
Highlights
Distributed coordination of multiagent systems has attracted considerable attentions recently due to their extensive applications [1, 2]
Based on the limitations mentioned above, the objective of this paper is to find a solution of event design for general linear dynamics using relative information in a distributed fashion to achieve consensus
This paper studies the distributed event-triggered control of multiagent systems under the fixed undirected network topology
Summary
Distributed coordination of multiagent systems has attracted considerable attentions recently due to their extensive applications [1, 2]. Observed from these results, we can hardly find distributed event-triggered consensus schemes applicable to double-integrator models by Lyapunov method, to say nothing of general linear models This is attributed to the fact that the consensus state of double-integrator agents is no longer a constant; that is, it is impossible to find a measurable error without global information to design the triggering condition by Lyapunov function. Based on the limitations mentioned above, the objective of this paper is to find a solution of event design for general linear dynamics using relative information in a distributed fashion to achieve consensus. A distributed event-triggering scheme can be achieved based on the relative information of neighbors This idea of dynamic controller is inspired by [24], which was introduced in event design by [25, 26]. For any matrix A, λmin(A), λmax(A), ρ(A), and σmax(A) are the minimum eigenvalue, maximum eigenvalue, spectral radius, and maximal singular values of A, respectively
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