Distributed event-triggered control for global consensus of multi-agent systems with input saturation

• Yi, Xinlei ^[1] ; Yang, Tao ; Wu, Junfeng ; Johansson, Karl H. ^[1]
  1. [1] Royal Institute of Technology

     Royal Institute of Technology

     Suecia

     
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Nº. 100, 2019, págs. 1-9
• Idioma: inglés
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• Resumen

  • The global consensus problem for first-order continuous-time multi-agent systems with input saturation is considered. In order to reduce the overall need of communication and system updates, we propose an event-triggered consensus protocol and a triggering law, which do not require any a priori knowledge of global network parameters. It is shown that Zeno behavior is excluded for these systems and that the underlying directed graph having a directed spanning tree is a necessary and sufficient condition for global consensus. We use a new Lyapunov function to show the sufficient condition and it inspires the triggering law. Numerical simulations are provided to illustrate the effectiveness of the theoretical results.