Dynamic asynchronous edge-based event-triggered consensus of multi-agent systems

Abstract

This paper studies the asynchronous edge-based dynamic event-triggered consensus problems for multi-agent systems (MASs) with general linear dynamics. First, the static-gain edge-based protocol is proposed to assure that the agents achieve consensus asymptotically and that a uniformly positive minimum inter-event time (MIET) exists under the corresponding dynamic triggering mechanism. Then, to remove the requirement for the global information associated with the graph, an asynchronous edge-based event-triggered consensus control law that involves a dynamic gain is developed. A novel triggering mechanism that includes two dynamic parameters and a class of positive L1 functions under no Zeno behavior is further proposed to determine triggering instants of each edge in the graph. In addition, the continuous communication link is avoided. Finally, the application in a group of fixed-wing aircraft illustrates the validity of the theoretical results.