Leader-following consensus of general linear multi-agent systems: Event-triggered schemes

This paper proposes two different event-triggered controllers to effectively achieve the leader-following consensus in multi-agent systems with general linear dynamics. Here the topology among followers is allowed to be disconnected. A centralized event-triggered scheme is first introduced to guarantee that all followers can track the leader eventually. Besides, this control scheme significantly reduces the frequency of information transmission and control´s update. Moreover, a novel clustered event-triggered controller is proposed in this paper, which saves more information transmission cost as compared with that of the centralized case. It should be emphasized that all event-triggered controllers in this paper depend on local information and their executions are distributed. Further, the positive inner-event time intervals are assured for these cases. Finally, numerical examples are provided to illustrate the effectiveness of the proposed event-triggered schemes.