Consensus control of multi-agent system via event-triggering strategy

This paper analyzes on an event-triggered control approach to the consensus problem for a particular kind of multiagent system with directed topology. By defining an event-triggering function, controllers of agents only update control quantity at event instants and keep steady during the time interval between two event instants, which can minimize control effort. The event-triggering function only involves measurement error, which is the state error between current instant and the last event instant, and information of the last event time. The system is guaranteed to achieve consensus by applying this control strategy. Furthermore, a strict positive lower bound of the inter-event interval is given. Finally, a numerical simulation example is presented to illustrate the effectiveness of the proposed control strategy.