Fully Distributed Self-Triggered Control for Second-Order Consensus of Multiagent Systems

This paper develops a fully distributed self-triggered framework for achieving the second-order consensus in multiagent systems. In this framework, a fully distributed self-triggered scheme is proposed to schedule information transmission for each communication channel. Thus, the communication frequency of each channel is significantly reduced. Here, communication over different channels is independent with each other and, thus, a channel-based control protocol is further proposed. The update times of control protocol could be also lowered in this framework. Here, an iterative evaluation method is constructed to design a fully distributed self-triggered scheme without involving any global information, especially the eigenvalue information of the Laplacian matrix. In addition, by introducing several variables, some sufficient conditions for achieving the second-order consensus and average consensus are obtained, respectively, in a distributed fashion, and the Zeno behavior is successfully eliminated. Finally, a simulation example is provided to verify the theoretical analysis.