A Novel Hybrid Systems Framework For Leader-Following Consensus of Multi-Agent Systems
Guanglei Zhao, Shida Yang, Changchun Hua · 2019
In this paper, leader-following consensus problem is addressed for general linear multi-agent systems with communication delays. A novel hybrid event-triggering mechanism is developed without requiring continuous communication among follower agents. The multi-agent systems are firstly described as a closed-loop system with both flow dynamics and jump dynamics. Then, by introducing several auxiliary variables, a hybrid model of the multi-agent systems is constructed under hybrid systems framework. Based on this hybrid model, we present how to construct Lypaunov function, and the decentralized event-triggering conditions design is also developed. An application example is provided to show the effectiveness of the proposed approach.