Event-Based Consensus for Linear Multiagent Systems Without Continuous Communication

Abstract

In this paper, we propose a new distributed event-trigger consensus protocol for linear multiagent systems with external disturbances. Two consensus problems are considered: one is a leader-follower case and the other is a nonleader case. Different from the existing results, our proposed scheme enables each agent to decide when to transmit its state signals to its neighbors such that continuous communication between neighboring agents is avoided. Clearly, this can largely decrease the communication burden of the whole communication network. Besides, since the control signal for each agent is discontinuous because of the event-triggering mechanism, the existence of a solution for the closed-loop system in the classical sense may not be guaranteed. To solve this problem, we employ a nonsmooth analysis technique including differential inclusion and Filippov solution. Through nonsmooth Lyapunov analysis, it is shown that uniformly bounded consensus results are derived and the bound of the consensus error is adjustable by choosing suitable design parameters.

Leader-Following Consensus and Formation Control of VTOL-UAVs with Event-Triggered Communications

“…Now, consider the caseē = 0 and assume that λà 1 = λ min (Ã). Then the solution of (31), which can be written as follows:˙ξ =Ãξ +Bē (32) is given by:ξ…”

“…As a result, continuous communication among neighbors is no longer required. This approach is extended to general linear MASs in [31,32]. Early works, such as [33,34] propose event-triggered leader-follower consensus of multi-agent systems for tracking and flocking purposes.…”

An Overview of Recent Advances in Event-Triggered Consensus of Multiagent Systems

“…In contrast to the state-dependent thresholds in (3)-(6), a state-independent threshold has a simpler form. Then, the distributed event-triggered scheme is given by [55], [83]…”

“…For MASs with singleintegrators and double-integrators, the scheme (7) is used in [55] to achieve consensus with convergence to a neighbor ball of equilibrium if c i 0 = 0. For linear MASs, unbounded consensus is considered in [83] by using the scheme (7). The merits of such a state-independent threshold include: 1) when each agent broadcasts its state to neighbors depends only on the change of its own state, but not on that of its neighbors.…”

Event-Triggered Consensus of Multi-Agent Systems with Jointly Connected Switching Topologies

“…Reference [30] studied the event-driven consensus using output feedback control. The event-based consensus control problem with external disturbances was studied in [31], [32], [33]. Event-driven output consensus of heterogeneous networks was studied in [34], [35].…”