Distributed event-triggered control of discrete-time heterogeneous multi-agent systems

This paper investigates the consensus problem for a set of discrete-time heterogeneous multi-agent systems composed of two kinds of agents differed by their dynamics. The consensus control is designed based on the event-triggered communication scheme, which can lead to a significant reduction of the information communication burden in the multi-agent network. Meanwhile, only the communication between the agent and its local neighbors is needed, therefore, the designed control is essentially distributed. Based on the Lyapunov functional method and the Kronecker product technique, a sufficient condition is obtained to guarantee the consensus of heterogeneous multi-agent systems in terms of linear matrix inequality (LMI). Simulation results illustrate the effectiveness of the developed theory in the last.