Event-triggered leader-following tracking control for multivariable multi-agent systems

TL;DR

This paper develops event-triggered control strategies for leader-following in multi-agent systems with linear dynamics, ensuring bounded errors, no Zeno behavior, and efficient communication.

Contribution

It introduces novel event-triggering rules applicable to both undirected and directed graphs, with proven error bounds and continuous state generation from discrete communications.

Findings

Guarantees bounded tracking errors.

Prevents Zeno behavior in the system.

Effective with discrete communication updates.

Abstract

The paper considers event-triggered leader-follower tracking control for multi-agent systems with general linear dynamics. For both undirected and directed follower graphs, we propose event triggering rules which guarantee bounded tracking errors. With these rules, we also prove that the systems do not exhibit Zeno behavior, and the bounds on the tracking errors can be tuned to a desired small value. We also show that the combinational state required for the proposed event triggering conditions can be continuously generated from discrete communications between the neighboring agents occurring at event times. The efficacy of the proposed methods is discussed using a simulation example.