Event-Triggered Consensus of Matrix-Weighted Networks Subject to Actuator Saturation

Abstract

This paper examines the event-triggered global consensus of matrix-weighted networks subject to actuator saturation. A distributed protocol design is proposed for this category of networks to guarantee its global consensus subject to both event-triggered communication and actuator saturation. It is shown that the largest singular value of matrix-valued edge weights plays a crucial role in both protocol design and network performance, which renders the proposed framework more general than existing results that are only applicable to scalar-weighted networks. Conditions under which the global consensus can be guaranteed for leaderless matrix-weighted multi-agent networks are derived. However, the average consensus on the initial agents' states cannot be achieved due to the nonlinearities introduced in the closed-loop dynamics by the actuator saturation constraint. We further examine the scenario of leader-follower consensus for matrix-weighted multi-agent networks under the constraints of both event-triggered communication and actuator saturation. The applicability of the proposed protocol design framework to time-varying matrix-weighted networks is also examined. It is shown that the Zeno phenomenon can be excluded under the proposed interaction protocols. Simulation results in the context of the bearing-only cooperative formation of multi-vehicle systems are provided to demonstrate the effectiveness of theoretical results.