Hybrid Event-Triggered Consensus Tracking of Multi-Agent Systems With Discrete Control Update

Abstract

This brief considers the leader-following consensus (consensus tracking) problem of multi-agent systems (MAS) with event-triggered communication. A novel hybrid event-triggering mechanism is proposed to reduce the burden of network transmission, and it is ensured that Zeno behavior does not occur. Besides, it is required that the control protocol is only updated at agent’s own triggering instant. Compared with the existing works, the main contribution is that the minimum inter-event time (MIET) can be pre-specified, which is important for physical implementation, and the control update frequency is also reduced. An example is given to verify the correctness of the proposed hybrid event-triggered control strategy.