Event-Triggered Control for Consensus of Multi-Agent Systems with Nonlinear Output and Directed Topologies

TL;DR

This paper introduces a distributed event-triggered control strategy to achieve consensus in multi-agent systems with nonlinear outputs and directed communication graphs, ensuring convergence under certain conditions.

Contribution

It presents novel sufficient conditions for consensus with nonlinear outputs in directed graphs, extending previous work to more complex network structures.

Findings

Consensus achieved under specified conditions

Event-triggered control reduces communication load

Numerical simulations validate theoretical results

Abstract

We propose a distributed event-triggered control law to solve the consensus problem for multi-agent systems with nonlinear output. Under the condition that the underlying digraph is strongly connected, we propose some sufficient conditions related to the nonlinear output function and initial states to guarantee that the event-triggered controller realizes consensus. Then the results are extended to the case where the underlying directed graph contains a directed spanning tree. These theoretical results are illustrated by numerical simulations.