Exponential Event-based Consensus for General Liner Dynamic Agents

For multi-agent systems (MASs), event-triggered strategies typically require less control task execution and information transmission in achieving a collective behaviour compared to the time-triggered control schemes. This paper investigates exponential event-based consensus in directed topologies for MASs with general linear dynamic agents. The proposed control scheme involves a piecewise continuous eventbased control law and an event-based data transmission strategy for each individual agent which are developed based on a codesign procedure. Necessary triggering instants in the agents are determined by local triggering mechanisms (ETMs) based on the violation of well-designed triggering-conditions. To avoid continuous time communication between agents, a timedependent ETM is proposed. Then, analytical discussions on Zeno behaviour exclusion are given for the proposed ETM. It is proved that the proposed control schemes guarantees exponential consensus achievement meanwhile decreases both control input updates and data broadcasts by the agents. As a result, such control scheme facilitates more energy saving and extends the lifespan of agent actuators in addition to decreasing the communication costs. Illustrative simulations are given to support the effectiveness of the proposed method.