Clustered Event-Triggered Consensus Analysis: An Impulsive Framework

Abstract

This paper proposes an impulsive framework to analyze the effect of the clustered event-triggered information transmission on the dynamics of multi-agent systems. Under this framework, we study three cases and propose different types of event-triggered protocols. Firstly, if agents' states are available, a clustered event-triggered protocol based on agents' states is designed, which guarantees all followers to track the leader eventually. Secondly, the first case is further investigated when the agents' states are under disturbance. Hence, a modified event-triggered protocol is introduced to reach L∞ leader-following consensus. Thirdly, for the case where agents' states are not available, a clustered event-triggered observer-type protocol is developed based on the agents' outputs. It is worth noting that Zeno behavior is excluded in these cases. Finally, some numerical examples and an application of UAV helicopters are given to verify our theoretical analysis.Index Terms-Clustered event-triggered, impulsive, leader-following consensus, observer.Wenying Xu received M.S. degree in Applied Mathematics from Southeast University, Nanjing, China, in 2014. She is working towards Ph.

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Event-Triggered Cluster Consensus of Leader-Following Linear Multi-Agent Systems

“…Recently, event-triggered control has attracted tremendous attention [28][29][30][31]. The strategies in [28] and [29] were based on the sampling data for complex networks and formation control of multiagent systems, respectively.…”

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