Event-Triggered Protocol for the Consensus of Multi-Agent Systems With State-Dependent Nonlinear Coupling

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

56 Scopus Citations
View graph of relations


Related Research Unit(s)


Original languageEnglish
Article number7993055
Pages (from-to)723-732
Journal / PublicationIEEE Transactions on Circuits and Systems I: Regular Papers
Issue number2
Online published26 Jul 2017
Publication statusPublished - Feb 2018


This paper proposes an event-triggered protocol to achieve consensus in multi-agent system, in which neighboring agents are coupled via a nonlinear function with local passivity. It is mathematically proved that the proposed protocol guarantees average consensus in the system, excluding the existence of Zeno phenomenon. As a practical application, the scheme is applied to achieve synchronization in the Kuramoto oscillator network. Phase agreement is obtained for oscillators with identical natural frequency. For oscillators with non-identical natural frequencies, their phases are confined in a bounded range and their frequencies reach an average of their natural frequencies. To further demonstrate the generality of the scheme, another multi-agent system with coupling based on exponential and tangent functions is also presented. All the simulation results verify the condition of consensus and confirm the effectiveness of the scheme.

Research Area(s)

  • Consensus, event-triggering, Kuramoto oscillator, multi-agent system, nonlinear coupling

Citation Format(s)