Fully Distributed Control of Multiagent Networks With Edge-Based Event-Triggered Communication

Abstract

This paper addresses the synchronization problem of linear multi-agent systems with intermittent communication. To solve this problem, we propose an adaptive distributed control algorithm with edge-based event-triggering mechanisms that differs fundamentally from existing approaches in that it does not employ any form of global topology information and absolute state information. Instead, agents update their control signals and check triggering conditions based on relative state information. As our main contribution, we prove that all agents achieve global asymptotic synchronization with strictly positive minimum inter-event times by using the proposed event-triggered control method when the communication graph is connected. The main result is illustrated with an example, and through which we demonstrate the effectiveness of the proposed algorithm.