Centralized event-triggered control of multi-agent systems with dynamic triggering mechanisms

In this note, consensus problems of multi-agent systems with new dynamic centralized event-triggered mechanisms are presented. This new control protocol is featured by introducing an internal dynamic variable, which is the engine of the of dynamic event triggering algorithm. The triggering conditions of the agents are not only affected by the current states and the state measurement error of the agents but also those previous ones. And the triggering condition is more maneuverability. A Lyapunov function is used to prove the consensus of the multi-agent system under the dynamic event-triggered control. Finally, the effectiveness of the proposed protocol is illustrated by simulations.