Abstract
In this paper, event-triggered leader-following consensus of general linear multiagent systems under both fixed topology and switching topologies is studied. First, centralised and decentralised event-triggered control strategies based on neighbors’ state estimation are proposed under fixed topology, in which the controller is only updated at the time of triggering. Obviously, compared with the continuous time control algorithms, the event-triggered control strategies can reduce the communication frequency among agents effectively. Meanwhile, event-triggering conditions are derived for systems to achieve consensus by using the Lyapunov stability theory and model transformation method. Then, the theoretical results obtained under the fixed topology are extended to the switching topologies, and the sufficient conditions for the system to achieve leader-following consensus under the switching topologies are given. However, different from fixed topology, the control input of each agent is updated both at event-triggering and topology switching time. Finally, Zeno behaviors can be excluded by proving that the minimum triggering interval of each agent is strictly positive, and the effectiveness of the event-triggered protocol is verified by simulation experiments.
Highlights
In recent years, multi-agent systems have great potential of application in the fields of biology, engineering, physics, society and so on
The leader-following control of general linear multiagent systems based on event-triggering mechanism under both fixed topology and switching topologies have been studied
Two different control protocols are designed in order to reduce waste of resources
Summary
Multi-agent systems have great potential of application in the fields of biology, engineering, physics, society and so on. In [33], a new average consensus problem under event-triggered control strategy was set up, which limits the measurement error of each agent to a threshold that changes with time. Meng and Chen [34] studied the average consensus of the event-triggered multi-integrator systems under fixed and switching topologies and designed an event-triggered scheme based on quadratic Lyapunov function, which made each agent’s state converge to it’s initial average eventually. A continuous event-triggering condition is proposed, which uses the state error between the follower and leader to design the triggering conditions of each agent under the fixed topology and switching topologies, respectively. Rn and Rm×n indicate the set of n dimensional real vectors and m × n dimensional real matrices, respectively
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