Fully distributed observer-based consensus protocol: Adaptive dynamic event-triggered schemes

Abstract

This paper is intended to solve the fully distributed and observer-based consensus control problem of multi-agent systems with general linear dynamics under event-triggered communication (ETC). Two novel event-triggered strategies named adaptive dynamic event-triggered (ADET) schemes for one-to-all and one-to-one ETC are well developed, in which on-line triggering parameters associated with each node or edge and dynamic thresholds with updating laws are introduced, respectively. Firstly, an ADET consensus control protocol under one-to-all ETC is proposed and a sufficient condition for consensus is derived. Compared with most existing triggering rules, the on-line triggering parameter associated with each node makes the controller be designed in a fully distributed way. On the other hand, the proposed dynamic threshold has the potential of excluding Zeno behavior without sacrificing the system performance. Secondly, an ADET consensus control protocol under one-to-one ETC is studied, in which each agent asynchronously transmits its observer states to its neighbors depending on edge-based triggering functions. The one-to-one ETC provides a flexible self-regulated transmission mode. An effective fully distributed and observer-based consensus protocol is developed appropriately with available local measurement outputs, under which the agents are not required to have a priori knowledge of any global information. Further discussion on the efficiency of ADET strategies and comparison between state-based and observer-based ADET control are provided to enrich the distributed resources-aware control framework. Finally, one simulation example is provided to illustrate the theoretical results.