A Dynamic Event-Triggered Approach to Multi-Agent Consensus
Xianwei Li, Yang Shan Tang, Shaoyuan Li · 2020
This paper focuses on designing dynamic event-triggered (DET) protocols for consensus control of general linear multi-agent systems (MASs). Design algorithms are constructed for DET protocols with static and adaptive coupling, respectively. The designed event-triggering conditions involve internal dynamic variables that depend on the error information of the system, which provide more flexibility to reduce the number of triggered events than the existing results on linear MASs. The protocol with adaptive coupling is of the fully distributed nature. It is proved that the proposed protocols can ensure consensus and are not Zeno. A numerical example is provided to illustrate the effectiveness and advantages of the designed protocols.