Fully distributed consensus control for second-order multi-agent systems based on adaptive dynamic clock communication

Abstract

This paper proposes a novel event-triggered control strategy based on an adaptive dynamic clock to address the consensus problem of second-order multi-agent systems with undirected communication topology. The agent determines the triggering time according to its dynamic clock, adaptively resets the clock, and broadcasts its state information to neighbors at the triggering time. Each agent only obtains the status information of its neighbors at the triggering time and updates the clock and control signals based on its own state and the status of its neighbors at the triggering time. It does not require real-time status information from neighbors and does not rely on any global communication topology information. The designed control strategy is completely distributed and effectively avoids continuous communication. Using the Lyapunov stability analysis method and algebraic graph theory, it is proved that the proposed control strategy can ensure that the system is asymptotically stable and does not exhibit Zeno behavior. Finally, the effectiveness of the proposed dynamic event-triggered control strategy is demonstrated by a simulation example.