Fully Distributed Event-triggered Semi-global Consensus of Multi-agent Systems with Input Saturation and Directed Topology

Abstract

This paper studies the consensus problem of multi-agent systems with input saturation and directed communication topology, by utilizing the low-gain feedback method and the event-triggered control laws. Two event-triggered control laws, the centralized and the distributed laws, are proposed to guarantee semi-global consensus of the multi-agent systems. Then, a sufficient condition is presented to prove strictly positive low bound of inner-event time, i.e., the Zeno behavior can be avoided. Finally, the effectiveness of the proposed event-triggered laws is further verified by an example.