Event-triggered consensus for heterogeneous multi-agent systems

In this study, distributed consensus problems are investigated based on event-triggered sampling information for heterogeneous multi-agent systems. The multi-agent systems in the present framework consist of two different dynamics: first- and second-order integrators. Two event-triggered schemes are designed such that each agent can decide when to transmit new state information to its neighboring agents. By using Lyapunov theory and graph theory, some sufficient conditions are presented to guarantee the event-triggered consensus for heterogeneous multi-agent systems, with the advantages of avoiding unnecessary controller updates and sensor energy consumption. Numerical simulations are finally provided to illustrate the effectiveness of the proposed control strategies.