Event-Triggered Consensus for Linear Continuous-time Multi-agent Systems Based on a Predictor

TL;DR

This paper introduces a predictor-based event-triggered consensus protocol for linear continuous-time multi-agent systems, reducing communication frequency while ensuring consensus without Zeno behavior.

Contribution

A novel predictor-based event-triggered protocol is proposed, enabling consensus with less communication and providing necessary and sufficient conditions for convergence.

Findings

Achieves consensus with fewer event-triggered updates.

Proves the absence of Zeno behavior in the protocol.

Demonstrates effectiveness through a numerical example.

Abstract

In this paper, the problem of event-triggered consensus for linear continuous-time multi-agent systems is investigated. A new event-triggered consensus protocol based on a predictor is proposed to achieve consensus without continuous communication among agents. In the proposed consensus protocol, each agent only needs to monitor its states to determine its event-triggered instants. When an event is triggered, the agent will update its consensus protocol and sent its state information to its neighbors. In addition, the agent will also update its consensus protocol and the predictor when it receives the state information from its neighbors. A necessary and sufficient condition that the consensus problem can be solved is derived. Moreover, it is proved that Zeno behavior does not exist. Finally, a numerical example is given to illustrate that the protocol proposed in this paper can make the multi-agent systems achieve consensus through much fewer event-triggered times.