Consensus of Multi-Agent SystemS with Nonlinear Dynamics via Event-triggered Strateies

This paper studies the consensus problem of a multi-agent system with nonlinear dynamics by using event-triggered strategy. Event-triggered control laws together with triggering functions are proposed to reduce controller updating and information transmission. The event-triggered control laws are segmental continuous such that these laws only update at irregular event instants. The triggering functions are developed to compute these instants. In this paper, the proposed distributed triggering function for an agent only involves the agent's measurement error, the state of the agent at the event instant and its neighbors' states at their event instants. The multi-agent system is guaranteed to reach consensus under the event-triggered control strategy. Furthermore, the inner-event interval has a positive lower bound. Finally, a numerical simulation is given to illustrate the effectiveness of the proposed control strategy.