Distributed Event-triggered Consensus Control for Heterogeneous Multi-agent Systems under Fixed and Switching Topologies

• Published in: International journal of control, automation, and systems Vol. 17; no. 8; pp. 1945 - 1956
• Main Authors: Huang, Junhua, Chen, Liding, Xie, Xuhuan, Wang, Mufeng, Xu, Bugong
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01-08-2019; Springer Nature B.V
• Subjects: Algorithms; Automation; Communication; Control; Control algorithms; Control theory; Dwell time; Engineering; Mechatronics; Multiagent systems; Regular Papers; Robotics; Science; Switching; Time dependence; Topology; event-triggered control; multi-agent systems; Estimation; heterogeneity
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-018-0601-0

This paper investigates the distributed consensus problem for heterogeneous multi-agent systems via event-triggered scheme. To alleviate the communication burden, a distributed event-triggered consensus algorithm using an open-loop estimate and neighboring information is proposed. In the proposed event-triggered scheme, the control input of each agent is dependent on the estimate and information at discrete instants. Firstly, the novel event-triggered consensus algorithm is proposed for fixed topology, which involves the discrete communication between neighboring agents. Then, for the switching topology, the triggering condition is proposed by virtue of a topology-dependent dwell time approach. Further, the corresponding consensus procedures are given. Finally, the effectiveness of the proposed scheme is illustrated by numerical results.