Consensus Of Multi-agent Systems Via Event-triggered Control

With the widely application of the consensus problem for multi-agent system in the field of sensing network, formation control, unmanned aerial vehicle and mobile robots, it has become a hot research topic in the control subjects. In many practical multi-agent systems, the bandwidth of the communication network and the power source of the agents have great influence on the consensus of multi-agent systems. In this paper, the event-triggered mechanism is introduced to reduce the consumption of communication and computing resources while ensuring consensus of the multi-agent system. Here are the main objectives:(1) The consensus of multi-agent systems with adaptive event-triggered control is analyzed. The proposed control scheme can adaptively adjust the release intervals based on the sampled-data, and improve the control performance of the system and save the communication resources. Based on the Lyapunov stability theory, consensus criteria are derived in the form of linear matrix inequalities.(2) Two multi-agent networks with the same topology are considered, one is the leader network, and the other is the follower network. A new event-triggered pinning control scheme is proposed to realize the consensus between these two networks. Only a small fraction of followers can directly communicate their corresponding leaders, and the pinning control will be updated only if the event-triggered condition is violated. Moreover, consensus of multi-agent networks with nonlinear dynamics is also discussed. Furthermore, the H? consensus of linear multi-agent networks with event-triggered pinning control is studied.(3) Considering the information needed to be quantified in the process of network communication, the quantized consensus of second-order multi-agent systems with event-triggered control is investigated. The consensus protocol based on the event-triggered control strategy is proposed, and the logarithmic quantizer is used to quantify control input. By using graph theory and Lyapunov stability theory, some sufficient conditions on the quantized consensus of second-order multi-agent systems are obtained.