Event-triggered consensus for second-order leaderless multi-agent systems

Future multi-agent systems will be equipped with embedded microprocessors with limited resources to gather information and update the control law of each agent. It has been shown that the event-triggered strategy is an effective way for designing control protocol of multi-agent systems. In this paper, we consider the consensus problem of a second-order leaderless multi-agent systems where the control strategy is event-triggered. The controller of each agent updates when a certain function is triggered, which depends on the ratio of a defined measurement error with respect to the norm of a disagreement vector. For multi-agent systems with a connected topology, we give sufficient conditions to solve the event-triggered consensus problem in a centralised way. Finally, a numerical simulation is given to validate the proposed strategy.