Integral-based event-triggered control for multi-agent systems with general linear dynamics

Event‐triggered leader‐follower tracking control for interconnected systems

“…One feature of the proposed control protocol (8) which distinguishes it from the recent work on the leader-follower tracking control problem [12][13][14]17,29 is that the agents are assigned individual control gains. That is, the control gain matrix K i in (8) depends on i, whereas in [12][13][14]17,29 all agents were to use the same gain matrix K. Furthermore, we will show that the proposed event-triggered strategy not only guarantees that the systems do not exhibit Zeno behavior, but also ensures asymptotic convergence of the tracking errors between the leader and the followers. By contrast, the results in References 12,13 only guarantee that the systems tracking errors converge to a desired small bound when Zeno behavior is excluded.…”

“…A larger enables us to choose a larger in the time-dependent triggering threshold. According to (17), this ensures that the local model errors e i (t) and the errors of the predicting the leader dynamics e 0,i (t) converge to zero at a greater exponential rate. Selecting the parameters for the event-triggering condition (17) involves the following steps: (a).…”

“…According to (17), this ensures that the local model errors e i (t) and the errors of the predicting the leader dynamics e 0,i (t) converge to zero at a greater exponential rate. Selecting the parameters for the event-triggering condition (17) involves the following steps: (a). Choose matrix R > 0 and solve LMIs (16) to obtain the matrix Y , then compute .…”

“…3,4 The results on the event-triggered leaderless consensus problem have been developed for multiagent systems with single or double integrator dynamics, 3,5,6 general linear dynamics, 7,8 and nonlinear dynamics. 9,10 The event-triggered leader-follower tracking control problems have been addressed for multiagent systems with general linear dynamics [11][12][13][14][15][16][17][18] and nonlinear dynamics. 19,20 A common feature of the existing body of work on the event-triggered control problem for multiagent systems is that agents are not physically connected with the neighboring agents.…”

“…This is a significant limitation from the practical perspective which motivates us to consider the event-triggered leader-follower tracking problem for interconnected systems in this article. Taking into consideration interconnections is also an advancement in comparison with the recent work on the event-triggered leader-follower tracking control, [11][12][13][14][15][16][17][18] which is concerned primarily with decoupled multiagent systems. In particular, we are concerned with a general case where interconnections between the subsystems are nonidentical and time varying.…”