Event-Triggered Control of Multiagent Systems for Fixed and Time-Varying Network Topologies

Distributed event‐triggered containment control for dynamical multiagent networks

“…Motivated by the fact that agents in a network share their information via a digital platform, the consensus/containment control problem has recently been investigated under the circumstances where the agents communicate with their neighbors at certain discrete times. Aperiodic event‐based strategies, which can be dated back to the beginning of computer‐controlled systems, are widely adopted in the distributed control design . In dynamical multiagent networks, the main task of event‐triggered control becomes how to design effective controller by exploring local information and meanwhile prevent the Zeno behavior that is caused by the hybrid nature of the closed‐loop multiagent systems.…”

“…Indeed, in early works with continuous‐time controllers for multiagent systems of general linear dynamics, the least nonzero eigenvalue of Laplacian matrix is used in determining the feedback control gains . In the event‐triggered control problem for general linear agent networks, the global information of Laplacian matrix is frequently used in both the controller design and the triggering rule design . The idea of the so‐called fully distributed design for consensus control is first developed in the continuous‐time consensus controller design, ie, designing controller by avoiding using the connectivity of Laplacian matrix.…”

“…Another important aspect in the event design is related to the measurement error. Roughly speaking, early works in the event‐triggering rule design can be categorized into two classes, namely, the rule with state‐independent thresholds and the rule with state‐dependent thresholds . In the state‐independent case, the threshold can be a time‐dependent function with or without a constant deviation.…”

“…Aperiodic event-based strategies, which can be dated back to the beginning of computer-controlled systems, 13 are widely adopted in the distributed control design. [14][15][16][17][18][19][20] In dynamical multiagent networks, the main task of event-triggered control becomes how to design effective controller by exploring local information and meanwhile prevent the Zeno behavior that is caused by the hybrid nature of the closed-loop multiagent systems.…”

“…5,6 In the event-triggered control problem for general linear agent networks, the global information of Laplacian matrix is frequently used in both the controller design and the triggering rule design. [18][19][20] The idea of the so-called fully distributed design for consensus control is first developed in the continuous-time consensus controller design, 21 ie, designing controller by avoiding using the connectivity of Laplacian matrix. This idea is extended to the event-triggered control in the work of Cheng and Li,22 where the design is fully distributed when the agents are neutrally stable.…”