Distributed event-triggered control for constrained multi-agent systems: Output feedback case

In this paper, a distributed event-triggered control strategy is proposed such that consensus of multi-agent systems is achieved subject to input saturation in an output feedback setting. Instead of triggering the controller periodically, the proposed controller is not activated until the response of the system exceeds some pre-defined event-triggered limitation. The case of the output feedback is considered and the allowed saturation approach is introduced to deal with the nonlinearity caused by the input saturation. In the proposed scheme, since no hard constraint is imposed to the control input, we can make full use of the available actuator capacity. In addition, results on the minimization of the frequency of the event-triggered actions are provided.