Fully Distributed Leader-follower Event-triggered Control for TVMASs Under Undirected/Directed Graph

• Published in: International journal of control, automation, and systems Vol. 23; no. 3; pp. 725 - 736
• Main Authors: Xia, Lina, Li, Qing, Song, Ruizhuo
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.03.2025; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Control; Engineering; Event triggered control; Graph theory; Graphs; Mechatronics; Multiagent systems; Regular Papers; Robotics; 제어계측공학; TVMASs; Fully distributed; time-varying event-triggered control; Zeno behavior; LF
• ISSN: 2005-4092; 1598-6446; 2005-4092
• DOI: 10.1007/s12555-023-0586-1

The paper systematically studies the leader-follower (LF) problem in time-varying multi-agent systems (TVMASs) on undirected/directed graphs by a distributed/fully distributed event-triggered protocol. A general form of the event-triggered strategy is investigated to ensure state consensus among agents on an undirected and connected graph, which is extended to a directed graph containing a spanning tree. Then, two adaptive time-varying event-triggered strategies are provided to solve the LF problem on undirected and directed graphs such that the Laplacian matrix in design can be relaxed. A triggering condition and four novel event-triggered functions that involve dynamic parameters are designed under no Zeno behavior. Finally, the availability of the obtained systematic results is shown by a simulation example.