A fully distributed event-Triggered control approach to leader-following consensus of multiagent systems

This paper investigates the leader-following consensus problem for general linear multiagent systems under a fully distributed manner. To avoid using the global information of the communication network, two node-based adaptive parameters are designed and introduced to the fully distributed event-based control law. Such a protocol is more scalable and flexible for large-scaled and complex networked system, such as microgrids or multiple unmanned vehicles. A novel event-triggered rule is presented, and an internal dynamic variable is introduced in it to further cut down the triggering times and save the communication resources. A well-designed Lyapunov function candidate is constructed to not only ensure the convergence of the close-looped systems but also avoid using the eigenvalue of Laplacian matrix in the dynamic variable. Moreover, it is proved that the designed event-triggered conditions can avoid the Zeno behaviour. Finally, a simulation example based on a group of unmanned intelligent vehicle systems is provided to demonstrate the validity of the designed control method.(c) 2023 The Franklin Institute. Published by Elsevier Inc. All rights reserved.

Automated summary

This paper investigates the leader-following consensus problem for general linear multiagent systems under a fully distributed manner. It proposes a fully distributed event-based control method that avoids using global information of the communication network. By designing node-based adaptive parameters and introducing internal dynamic variables, the method improves the scalability and flexibility of the system, ensures convergence, and prevents Zeno behavior.