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

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Original languageEnglish
Article number7369964
Pages (from-to)212-223
Journal / PublicationIEEE Transactions on Cybernetics
Issue number1
Online published31 Dec 2015
Publication statusPublished - Jan 2017


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.

Research Area(s)

  • Consensus, event-Triggered, leader-following, multiagent system.