DISTRIBUTED EVENT-TRIGGERED CONSENSUS CONTROL FOR MULTI-AGENT SYSTEMS

This paper studies the consensus problem for a class of multi-agent systems with single-integrator. The controller updating is event-driven and depend on the measurement error with the norm of state function and neighboring agent's state. It is shown that the controller updating for each agent only triggers at its own event time instants. Then, one distributed event-triggered control scheme is derived, which can reduce the frequency of the controller updating and the communication load. The proposed control protocols guarantee convergence to a ball centered at the average consensus, and events cannot exhibit Zeno behavior. Finally, a simulation example is demonstrated to verify the theoretical result.