Abstract
Event-triggered (ET) consensus of linear multiagent systems with relative output sensing on undirected graphs is studied. Two output-feedback protocols with static and time-varying coupling strengths, respectively, are proposed, which, different from the existing results in relative output sensing, integrate effective ET strategies to reduce the communication burdens between agents. To ensure the closed-loop consensus, design conditions about the gain matrices, coupling strengths, and event-triggering functions are derived. Zeno behaviors are also shown to be excluded from the triggering process. In addition, recursive algorithms are devised for computing the continuous-time relative signals required by the event-triggering functions, so that continuous monitoring of neighbors is circumvented. Numerical examples finally demonstrate the effectiveness of the proposed design method.
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