Output Consensus of Heterogeneous Linear Multi-Agent Systems with Adaptive Event-Triggered Control

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Original languageEnglish
Article number8456552
Pages (from-to)2606-2613
Number of pages8
Journal / PublicationIEEE Transactions on Automatic Control
Issue number6
Online published6 Sep 2018
Publication statusPublished - Jun 2019


This paper investigates the output consensus problem for heterogeneous linear multi-agent systems via event-triggered control. By introducing a dynamic compensator for each agent, a fully distributed event-triggered control strategy with an adaptive event-triggering mechanism is proposed. It is shown that under the proposed control strategy, all agents asymptotically achieve output consensus with intermittent communication in a fully distributed manner. Moreover, with the proposed event-triggering mechanism, Zeno behavior is strictly excluded for each agent. Compared with existing mechanisms, the proposed event-triggering mechanism is independent of any global information and avoids the continuous monitoring issue. Finally, a numerical example is provided to illustrate the effectiveness of the proposed event-triggered control strategy.

Research Area(s)

  • Multi-agent systems, output consensus, event-triggered control, distributed control, adaptive control