摘要
This paper investigates the state consensus of linear multi-agent systems in a graph where each agent is equipped with two novel event-triggering mechanisms.Each agent utilizes them to avoid continuous information transmissions with its neighbors and to reduce the frequencies of controller updates,respectively.One of the event-triggering mechanisms defines a threshold of state errors by a constant plus a state-dependent variable.The other event-triggering mechanism introduces a period of rest time after each event.For each agent,both event-triggering mechanisms are fully distributed and are independent of any global information.The authors utilize a co-design approach to deal with the interplay between control gains and parameters in event-triggering mechanisms.With appropriate control gains in control laws and parameters in event-triggering conditions,subsystems employing discrete-time signals from neighbors and discrete-time signals from their controllers achieve the state consensus.Simulations are performed to illustrate the effectiveness of the proposed event-triggering mechanisms.
基金
supported in part by the National Natural Science Foundation of China under Grant Nos.61873074 and 61903140
in part by the Fundamental Research Funds for the Central Universities under Grant No.2020MS019。
