Asynchronous decentralised event-triggered control of multi-agent systems

Abstract

In this paper, the consensus problem of first-order multi-agent systems under linear asynchronous decentralised event-triggered control is investigated. Both undirected and directed topologies are considered. In the analysis, the closed-loop multi-agent systems with the event-triggered control are modelled as switched systems. After proposing the decentralised event-triggered consensus protocols, decentralised state-dependent event conditions are derived, which act as switching signals. The consensus analyses are performed based on graph theory and stability results of switched systems. Under the event-triggered control schemes presented, consensus is reached with enlarged sampling periods and no Zeno behaviour. Simulation examples are given to illustrate the effectiveness of the proposed theoretical results.

Keywords:

• multi-agent systems
• consensus
• event-triggered control

Acknowledgements

The authors wish to thank the associate editor (Dr Francoise Lamnabhi-Lagarrigue) and anonymous reviewers for their helpful comments and constructive suggestions, which help to improve the final version of this paper.

Additional information

Funding

This work was supported by Natural Science Foundation of China [grant number 61174057]; Natural Science Foundation of Beijing [grant number 4112034].