Double event-triggered control for linear multi-agent systems with augmented dynamic triggering mechanisms

Abstract

In this paper, the design of double event-triggered mechanisms (ETMs) for multi-agent systems (MAS) with augmented dynamic variables is proposed. In this case, the asymptotic consensus of agents is achieved and the Zeno behavior is also excluded. The updates of controllers and the exchange of information between agents at the current moment depend on the proposed double ETMs, where there are two types of ETMs use different trigger functions and work independently. As a consequence, both the communication burdens are greatly lighten and the control signal updates are reduced. Then, by using the novel methods, the resultant triggering function is less conservative than existing methods. In addition, a new dynamic ETM method is presented which covers the traditional dynamic ETM and the static ETM by tuning some parameters. It is proven that the augmented dynamic ETM can further extend the event-triggered interval. Finally, a numerical example is given to show the effectiveness of the proposed method.