Event-triggered Consensus of Discrete Time Second-order Multi-agent Network

This paper is concerned with the event-triggered consensus problem of discrete time second-order multiagent network. First, a novel distributed discrete time event-triggered scheme is proposed. The controller is updated only at the errors of the state and velocities exceed the threshold. Then, by using bilinear transformation technique, the integral inequality technique and matrix theory, some sufficient conditions for the consensus of multi-agent network are obtained. Different from existing works, our conditions reveal how the Laplacian matrix eigenvalues and scaling strengths affect the consensus of discrete time second-order multi-agent network with event-based control strategy. Moreover, the Zeno-like behavior of triggering time sequences is excluded. Finally, a numerical simulation is provided to illustrate the correctness of theoretical results.