Event-Triggered Communication for Leader-Following Consensus of Second-Order Multiagent Systems

Abstract

This paper is concerned with leader-following consensus of second-order multiagent systems with nonlinear dynamics. First, to save the limited communication resources, a new event-triggered control protocol is delicately developed without requiring continuous communication among the follower agents. Then, by employing the Lyapunov functional method and the Kronecker product technique, a novel sufficient criterion with less conservation is derived to guarantee the leader-following consensus while excluding the Zeno behavior. Furthermore, for the first time, an algorithm to actively adjust the leader adjacency matrix is presented, which efficiently expands the application range of some existing criteria. An example is finally given to illustrate the effectiveness of theoretical results.

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

“…Comparing with the consensus static control protocol in [18], [19], [21] and [22], a dynamic controller in (6) is considered. The dynamic consensus law depends on the estimating [19], [21] and [22]. In this paper, the matrix A in (1) and (2) is not Hurwitz, which even allows to have roots with positive real parts.…”

“…In order to reduce the communication burden caused by continuous communication between agents, some event-triggered control schemes were proposed in [18][19][20][21][22][23][24][25][26][27]. The control actuation is triggered whenever a certain error becomes large enough to violate the threshold.…”

“…Refs. [18] and [19] presented the centralized and decentralized consensus protocols for first and second order multiagent systems under event-triggered schemes respectively. In [20], three different types of eventtriggered strategies, namely distributed, centralized and clustered event-triggered strategies, was studied under different network topologies.…”

“…The major contributions are threefold. 1) Compared with the control protocol considered in [18,19,21] and [22], the dynamic control protocol considered in this paper is based on the model, which could reduce the number of event-trigger times obviously.…”

Asynchronous Distributed Event-Triggered Coordination for Multiagent Coverage Control

“…For multi-agent average consensus tasks, self-triggered algorithms in [19], [20] and an eventtriggered broadcasting algorithm in [21] have been shown to reduce the amount of communication and the amount of communication power consumed during the task. In [23], [24], the communication power consumed was shown to be reduced for a leader-follower consensus problem using an event-triggered algorithm. The most relevant to this paper is the work involving event-, self-or team-triggered strategies applied to the deployment problem.…”