Decentralized event-based control method on tracking problem of multi-agent systems

This paper addresses the leader-follower consensus problem of networked systems by using decentralized event-based control strategy. The event-based control strategy makes the controllers of agents to update at aperiodic event instants. Both a centralized and a decentralized triggering function are designed to generate these event instants. The decentralized triggering function employs only local information of the corresponding follower, i. e. the follower's own state and the neighbors states. If the follower does not have direct connection to the leader, the leader's information is not needed. Furthermore, no global information, such as the topology of the system and the eigenvalues of the Laplacian matrix are required for followers. It is proven that the leader-follower networked system can reach consensus by utilizing the proposed control strategy. Illustrative examples are given to show the effectiveness of the control strategy.