Decentralized Event-Triggered Consensus of Linear Multi-agent Systems under Directed Graphs

TL;DR

This paper introduces a decentralized event-triggered control method for achieving consensus in linear multi-agent systems connected via directed graphs, ensuring asymptotic convergence, positive inter-event times, and robustness to communication delays.

Contribution

It extends existing event-triggered consensus strategies to directed graphs and incorporates delay robustness, guaranteeing positive inter-event times and asymptotic consensus.

Findings

Achieves asymptotic consensus with directed graph topology.

Guarantees positive lower bounds on inter-event times.

Ensures robustness to communication delays.

Abstract

An event-triggered control technique for consensus of multi-agent systems with general linear dynamics is presented. This paper extends previous work to consider agents that are connected using directed graphs. Additionally, the approach shown here provides asymptotic consensus with guaranteed positive inter-event time intervals. This event-triggered control method is also used in the case where communication delays are present. For the communication delay case we also show that the agents achieve consensus asymptotically and that, for every agent, the time intervals between consecutive transmissions is lower-bounded by a positive constant.