Completely Event-Triggered Consensus for Multiagent Systems With Directed Switching Topologies

• Published in: IEEE transactions on cybernetics Vol. 52; no. 8; pp. 7865 - 7874
• Main Authors: Zhang, Tian-Yu, Ye, Dan, Zhao, Xingang
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.08.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Autonomous underwater vehicles; Completely event-triggered mechanisms (CETMs); Data communication; Data transmission; directed switching topologies; Dwell time; Graph theory; Laplace equations; leader-following consensus; Liapunov functions; Linear matrix inequalities; Multiagent systems; multiagent systems (MASs); Network topology; Switches; Switching; Topology
• ISSN: 2168-2267; 2168-2275
• DOI: 10.1109/TCYB.2021.3052988

This article studies the leader-following consensus of multiagent systems (MASs) with completely event-triggered mechanisms (CETMs) and directed switching topologies. When most event-triggered schemes in MASs only reduce each agent's data transmissions to neighbor agents, CETMs further reduce data transmissions to actuators with one triggered function in each agent. To guarantee the switching links utilized by CETMs contain a directed spanning tree at any time, triggered decisions are improved to include the instants at which each agent's output links or leader link change. Furthermore, a less conservative method based on matrix inequalities is combined to minimize the allowable average dwell time (ADT) of switching topologies under the design conditions of CETMs. Based on multiple Lyapunov functions (MLFs), the sufficient conditions for controller gains that guarantee the leader-following consensus of MASs are proposed when the ADT of switching topologies is larger than the allowable value. Finally, an example of autonomous underwater vehicles (AUVs) is given to illustrate the effectiveness of CETMs.