Event-Triggering Sampling Based Leader-Following Consensus in Second-Order Multi-Agent Systems

• Published in: IEEE transactions on automatic control Vol. 60; no. 7; pp. 1998 - 2003
• Main Authors: Li, Huaqing, Liao, Xiaofeng, Huang, Tingwen, Zhu, Wei
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.07.2015; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Decentralized control; Distributed control; Eigenvalues and eigenfunctions; Event-triggering; Lead; Leader-following; Multi-agent systems; Secondorder consensus; Switches; Symmetric matrices; Topology; Distributed control; event-triggering; multi-agent systems; second-order consensus; leader-following
• ISSN: 0018-9286; 1558-2523
• DOI: 10.1109/TAC.2014.2365073

In this note, the problem of second-order leader-following consensus by a novel distributed event-triggered sampling scheme in which agents exchange information via a limited communication medium is studied. Event-based distributed sampling rules are designed, where each agent decides when to measure its own state value and requests its neighbor agents broadcast their state values across the network when a locally-computed measurement error exceeds a state-dependent threshold. For the case of fixed topology, a necessary and sufficient condition is established. For the case of switching topology, a sufficient condition is obtained under the assumption that the time-varying directed graph is uniformly jointly connected. It is shown that the inter-event intervals are lower bounded by a strictly positive constant, which excludes the Zeno-behavior before the consensus is achieved. Numerical simulation examples are provided to demonstrate the correctness of theoretical results.