Event-Triggered Control for Consensus of Multiagent Systems With Binary-Valued Measurements
Xiaodong Lü, Ting Wang, Yanlong Zhao · IEEE Transactions on Automatic Control · 2023
This paper adopts the event-triggered control strategy to investigate the consensus problem of multi-agent systems. Owing to the effect of random noises, the communication information among agents is transmitted based on binary-valued measurements. Each agent employs the recursive projection algorithm to estimate the states of all neighbours. Then, an event-triggered protocol with time-varying threshold parameters is proposed to guarantee that the state of each agent can lie within the same bounded region as the estimate of its neighbours' states. Furthermore, this paper emphasizes that this kind of same bounded relation is necessary and essential to achieve precise state estimate and desired consensus performance. By the designed control law, the estimation error and the consensus error can converge to zero in the mean square sense with explicit convergence rates$O(t^{-a})$$(a>0$is a constant). Finally, this paper shows that the communication rate of the designed control scheme can almost surely converge to zero with a rate$o(t^{-\kappa })$$(\kappa >0$is a constant), and is much lower than the existing results when achieving the same convergence value. Thus, the communication resources can be saved. An example is presented to illustrate the advantage of the proposed control strategy.