Abstract
For the consensus problem of multi-agent systems with linear dynamics, distributed event-triggered control strategies are put forward, which can decrease the frequency of information transmissions between agents and the number of control inputs of each agent. In the case that the agent states can be obtained or outputs can be obtained, distributed consensus protocols are designed based on event-triggered state information and event-triggered observer information, respectively. The consensus problem is converted into the stability problem by model transformation. Sufficient conditions for multi-agent systems to achieve consensus are obtained. Meanwhile, it is theoretically proved that the event-triggering conditions will exclude Zeno behavior. Simulation examples verify the effectiveness of obtained results.
Highlights
Due to the far-ranging applications in many areas, such as sensor network, multi-robot collaboration and multi-task assignment of UAV, the cooperative control problems for multi-agent systems have been attracting more and more scholars [1]–[5]
Zhang et al studied the consensus problem of general linear multi-agent systems based on integral-type event-driven control strategy [30]
Motivated by the aforementioned work, we further investigate the event-triggered consensus problem of linear multi-agent systems
Summary
Due to the far-ranging applications in many areas, such as sensor network, multi-robot collaboration and multi-task assignment of UAV, the cooperative control problems for multi-agent systems have been attracting more and more scholars [1]–[5]. In [18], by designing the event-triggering condition based on combinational measurement values, consensus of multi-agent systems was achieved. Based on the research on event-triggered consensus, the problem of containment control for multi-agent systems under directed topology was studied in [22]. The consensus problems for multi-agent systems based on periodic sampling and event hybrid control strategy were studied in [23] and [24], respectively. Guo et al studied the consensus problem of general linear multi-agent systems by using periodic event-driven control strategy [27]. The event-triggered control was used to study the consensus problem of general linear multi-agent systems under different communication topologies in [29]. Zhang et al studied the consensus problem of general linear multi-agent systems based on integral-type event-driven control strategy [30]. IN represents the N -dimensional identity matrix and 1(0) denotes the column vector of all 1(0) with appropriate dimension. ⊗ denotes the Kronecker product. · denotes the 2-norm of vectors or the vector induced 2-norm of matrices
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