Two Event-Triggered Control Mechanisms for Multi-Agent Systems and Their Comparisons
Zhiqiang Zhang, Zehuan Lu, Yuangong Sun · 2020
This paper studies the leader-following consensus problem for multi-agent systems with Lipschitz nonlinear dynamics via integral-type event-triggered control and dynamic-type event-triggered control. Firstly, a distributed integral-type event-triggered control protocol is proposed to solve the leader-following consensus problem for Lipschitz nonlinear multi-agent systems, and a positive inter-event time is provided to show that no Zeno behavior occurs. Then, as a novel event-triggered control mechanism, the dynamic-type event-triggered control is also considered to solve the problem, and Zeno-free behavior is guaranteed. Finally, some comparisons of the two event-triggered control mechanisms are provided.