Dynamic Event-Triggered Control for Leader-Following Consensus of Multiagent Systems

• Published in: IEEE transactions on systems, man, and cybernetics. Systems Vol. 50; no. 9; pp. 3243 - 3251
• Main Authors: Du, Sheng-Li, Liu, Tao, Ho, Daniel W. C.
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.09.2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Control systems; Eigenvalues and eigenfunctions; Event triggered control; Event-triggered mechanism; leader-following consensus; Multi-agent systems; multiagent system; Multiagent systems; Nonlinear dynamical systems; Pendulums; Protocols; Symmetric matrices
• ISSN: 2168-2216; 2168-2232
• DOI: 10.1109/TSMC.2018.2866853

In this paper, the leader-following consensus problem of multiagent systems with general dynamics under event-triggered mechanisms is investigated. A centralized event-triggered mechanism (CEM) is first proposed. Then, a distributed dynamic event-triggered mechanism is developed by introducing an internal variable. In the CEM case, each agent uses global information of the multiagent system, while in the distributed case, each agent only uses local information of its own and its neighbors. The multiagent system can achieve asymptotic consensus as well as exclude the Zeno phenomenon under the designed event-triggered rules in both cases. A multiagent system consisting of interconnected pendulums is provided to demonstrate the merits and correctness of the proposed methods.