No abstract

SummaryThis paper considers the distributed event-triggered consensus problem for multi-agent systems with general linear dynamics under a directed graph. We propose a novel distributed event-triggered consensus controller with state-dependent threshold for each agent to achieve consensus. In this strategy, continuous communication in both controller update and triggering condition monitoring is not required, which means the proposed strategy is fully continuous communication free. Each agent only needs to monitor its own state continuously to determine if the event is triggered. Additionally, the approach shown here provides consensus with guaranteed positive inter-event time intervals. Therefore, there is no Zeno behavior under the proposed consensus control algorithm. Finally, numerical simulations are given to illustrate the theoretical results.

No abstract

This paper considers the distributed event-triggered consensus problem for multi-agent systems with general linear dynamics under undirected graphs. Based on state feedback, we propose a novel distributed eventtriggered consensus controller with state-dependent threshold for each agent to achieve consensus, without continuous communication in either controller update or triggering condition monitoring. Each agent only needs to monitor its own state continuously to determine if the event is triggered. It is proved that there is no Zeno behavior under the proposed consensus control algorithm. To relax the requirement of the state measurement of each agent, we further propose a novel distributed observer-based event-triggered consensus controller to solve the consensus problem in the case with output feedback and prove that there is no Zeno behavior exhibited. Finally, simulation results are given to illustrate the theoretical results. X. LIU ET AL. could only converge to a neighborhood around the origin, and the thresholds in [20], [21] are timedependent. In addition, the strict time-dependent nature of the triggering functions will decouple the network evolution from the actual states of the agents. Therefore, the state-dependent thresholds in event-triggered consensus strategy have been investigated. References [22] discussed the event-triggered consensus strategy with state-dependent thresholds and extended the results to a self-triggered setup. Under the assumption that all agents have initial access to a common parameter, [23] proposed an event-triggered broadcasting law with state-dependent triggering functions where agents do not rely on the availability of continuous information about their neighbors. In [24], a distributed event-triggered communication and control strategy with state-dependent thresholds that solved the multi-agent average consensus problem was proposed. However, both [22][23][24] focused on the single-integrator dynamics. The event-triggered consensus control strategy with state-dependent triggering functions for MAS with general linear dynamics was investigated in [25][26][27]. While, both [25][26][27] required continuous communication of neighbors' states to check the triggering conditions.It is well known that feedback control laws are typically implemented on digital platforms and executed periodically. The design of such controllers can be accomplished by using the welldeveloped theories and techniques on event-triggered control strategy. Because of these advantages, event-triggered feedback control of MAS has attracted more and more attention, see [14,15,22,25,30], just to name a few. It can be found from those works that most event-triggered controllers for MAS are single or double integrator and based on state-feedback under a restrictive assumption that all the agent states can be measured. Unfortunately, state measurement may not be available in real world. So, consensus control strategy based on state feedback should be replaced by using output feedback in those scenarios....

No abstract