Leader-Following Consensus of Multi-Agent Systems via Fully Distributed Event-Based Control

This paper aims to study the leader-following consensus of linear multi-agent systems on undirected graphs. Specifically, we construct an adaptive event-based protocol that can be implemented in a fully distributed way by using only local relative information. This protocol is also resource-friendly...

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Published inShanghai jiao tong da xue xue bao Vol. 29; no. 4; pp. 640 - 645
Main Authors Geng, Zongsheng, Zhao, Dongdong, Zhou, Xingwen, Yan, Lei, Yan, Shi
Format Journal Article
LanguageEnglish
Published Shanghai Shanghai Jiaotong University Press 01.08.2024
Springer Nature B.V
Subjects
Architecture
Computer Science
Electrical Engineering
Engineering
Life Sciences
Linear systems
Materials Science
Multiagent systems
consensus
全分布式协议
A
multi-agent systems
自适应控制
fully distributed protocol
一致性
多智能体系统
adaptive control
TP13
event-based control
事件驱动控制
Online AccessGet full text
ISSN1007-1172
1995-8188
DOI10.1007/s12204-024-2718-z

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Summary:This paper aims to study the leader-following consensus of linear multi-agent systems on undirected graphs. Specifically, we construct an adaptive event-based protocol that can be implemented in a fully distributed way by using only local relative information. This protocol is also resource-friendly as it will be updated only when the agent violates the designed event-triggering function. A sufficient condition is proposed for the leader-following consensus of linear multi-agent systems based on the Lyapunov approach, and the Zeno-behavior is excluded. Finally, two numerical examples are provided to illustrate the effectiveness of the theoretical results.
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ISSN:1007-1172
1995-8188
DOI:10.1007/s12204-024-2718-z