Saturated output-based event-triggered control for consensus of multi-agent systems

A saturation allowed output-based event-triggered control for consensus of multi-agent systems (MAS for short) design method is proposed in this paper for the linear systems subject to input saturation. We introduced the saturation allowed controller design method into the multi-agent schemes, in which an event-triggered mechanism are designed. The multi-agent controllers are not activated until the response of the system exceeds some pre-defined event-triggered limitation, rather than periodically sampling as feedback. Also, the output feedback scheme is introduced into the event-triggered MAS mechanism. In this case, the output feedback of the plant is activated when it really need to, and then the saturation allowed method is then employed to deal with the saturation nonlinearity. In this proposed scheme, since the saturation is allowed and no hard constraint is needed to imposed on the controller input, we can makes fuller utilization of the available actuator capacity. The proposed saturated output-based event-triggered control scheme provides the system stability and guaranteed event-triggered condition for consensus of multi-agent systems. Also, results are provided for minimizing the frequency of the event-triggered actions.