Event-Triggered schemes on leader-following consensus of general linear multiagent systems under different topologies

This paper investigates the leader-following consensus for multiagent systems with general linear dynamics by means of event-Triggered scheme (ETS). We propose three types of schemes, namely, distributed ETS (distributed-ETS), centralized ETS (centralized-ETS), and clustered ETS (clustered-ETS) for different network topologies. All these schemes guarantee that all followers can track the leader eventually. It should be emphasized that all event-Triggered protocols in this paper depend on local information and their executions are distributed. Moreover, it is shown that such event-Triggered mechanism can significantly reduce the frequency of control's update. Further, positive inner-event time intervals are assured for those cases of distributed-ETS, centralized-ETS, and clustered-ETS. In addition, two methods are proposed to avoid continuous communication between agents for event detection. Finally, numerical examples are provided to illustrate the effectiveness of the ETSs.