Consensus of Discrete-Time Leader-Following Linear Multi-Agent Systems Under Lyapunov-Function-Based Event-Triggered Mechanism

A novel Lyapunov-function-based event-triggered mechanism (ETM) for discrete-time linear leader-following multi-agent systems is proposed in this brief. Based on the constructed ETM, sufficient conditions to reach leader-following consensus asymptotically or exponentially are derived. Compared with the current results, the Lyapunov function no longer needs to be strictly monotonic decreasing under the designed ETM, which increases the triggering interval. The expected convergence rate can be achieved by the tunable parameters in the ETM. Particularly, the non-triviality of the introduced ETM is proved for some of the degraded systems. Finally, the obtained results are verified by a numerical example.