Abstract
The paper studies the consensus of event-triggered for second-order multi-agent systems (MASs) with or without input time delay. Based on the designed triggering function, a distributed event-triggered control strategy is presented to drive the system to achieve consensus. For each agent, controller update only needs the neighbor's information communication and its own error value, thus continuous communication among agents is not necessary. Communication energy can be saved as the agents send their state information only at infrequent event instants. To demonstrate the asymptotical stability of the closed-loop error system, S-procedure approach is used by combing Lyapunov stability theories with linear matrix inequality (LMI) technique. Two sufficient conditions are derived by solving LMIs for achieving second-order consensus under the cases of with or without input time delay, respectively.Numerical examples are presented to verify the effectiveness of the proposed controllers.
Highlights
Recent years, the consensus problem of multi-agent systems (MASs) has been researched extensively due to its widely application in engineering, the sensor/actuator network formation, multi-robot cooperation, unmanned aerial vehicles (UAV) and so on [1]–[4]
We investigate the event-triggered consensus control for MASs (1) without input time delay
Suppose the network topology G is strongly connected and has one directed spanning tree at least, if there exist matrix P ∈ Rn×n, P = PT > 0, any symmetric positive definite matrices T ∈ Rm×m and G ∈ Rm×m, for any initial εi (0) ∈ R (P, η), the error trajectories among agents lie in the ellipsoid R and agents can achieve consensus by solving the following two linear matrix inequality (LMI)
Summary
The consensus problem of multi-agent systems (MASs) has been researched extensively due to its widely application in engineering, the sensor/actuator network formation, multi-robot cooperation, unmanned aerial vehicles (UAV) and so on [1]–[4]. In [6], the authors focused on event-triggered consensus problem of general linear model, and proposed sufficient condition on whether continuous communication among agents was required. The event-triggered control scheme has attracted much attention of researchers in MASs and one may refer to the other studies [17], [32]–[34] Based on these works mentioned above, we study the consensus problem via event-triggered control for second-order MASs with or without input time delay. Different from [7], [32] we study the fixed directed topological graph with or without input time-varying delay, Lyapunov-Krasovskii functional technique combined with LMI is used to achieve the consensus This makes the design of the controller easier.
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