Distributed event-triggered control for global consensus of multi-agent systems with input saturation

The global consensus problem for first-order continuous-time multi-agent systems with input saturation is considered. In order to reduce the overall need of communication and system updates, we propose an event-triggered consensus protocol and a triggering law, which do not require any a priori know...

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Bibliographic Details
Published inAutomatica (Oxford) Vol. 100; pp. 1 - 9
Main Authors Yi, Xinlei, Yang, Tao, Wu, Junfeng, Johansson, Karl H.
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.02.2019
Subjects
Event-triggered control
Global consensus
Input saturation
Multi-agent systems
Global consensus
Input saturation
Event-triggered control
Multi-agent systems
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Summary:The global consensus problem for first-order continuous-time multi-agent systems with input saturation is considered. In order to reduce the overall need of communication and system updates, we propose an event-triggered consensus protocol and a triggering law, which do not require any a priori knowledge of global network parameters. It is shown that Zeno behavior is excluded for these systems and that the underlying directed graph having a directed spanning tree is a necessary and sufficient condition for global consensus. We use a new Lyapunov function to show the sufficient condition and it inspires the triggering law. Numerical simulations are provided to illustrate the effectiveness of the theoretical results.
ISSN:0005-1098
1873-2836
1873-2836
DOI:10.1016/j.automatica.2018.10.032