A Discrete-Time Event-Triggered Consensus Algorithm with Optimized Sampling for Multi-Agent Coordination Control

Abstract

In this paper, a multi-agent cooperative control algorithm based on event-triggered mechanism is designed. The main research contents are as follows : Firstly, the consensus algorithm of second-order discrete multi-agent is designed, and the consensus protocol is designed by using sampling position information. The relationship among network topology, control gain and sampling period is analyzed. Secondly, the leader-follower consistency based on event-triggered mechanism is studied, and a leader-follower consistency algorithm based on event-triggered mechanism is designed. By introducing the event-triggered mechanism, the master-slave consistency cooperative control is realized. Thirdly, the research results of multi-agent cooperative control algorithm based on event-triggered mechanism are verified by an example to prove the effectiveness of theoretical analysis.