Event-triggered Consensus of Matrix-weighted Networks Subject to Actuator Saturation

TL;DR

This paper develops an event-triggered control strategy for multi-agent networks with matrix weights and actuator saturation, ensuring global consensus while avoiding Zeno behavior, and extends existing scalar-weighted network results.

Contribution

It introduces a novel distributed event-triggered coordination method for matrix-weighted networks with actuator saturation, broadening the scope beyond scalar-weighted networks.

Findings

Guarantees leaderless and leader-follower consensus.

Excludes Zeno phenomenon under the proposed strategy.

Highlights the importance of spectral properties of matrix weights.

Abstract

The ubiquitous interdependencies among higher-dimensional states of neighboring agents can be characterized by matrix-weighted networks. This paper examines event-triggered global consensus of matrix-weighted networks subject to actuator saturation. Specifically, a distributed dynamic event-triggered coordination strategy, whose design involves sampled state of agents, saturation constraint and auxiliary systems, is proposed for this category of generalized network to guarantee its global consensus. Under the proposed event-triggered coordination strategy, sufficient conditions are derived to guarantee the leaderless and leader-follower global consensus of the multi-agent systems on matrix-weighted networks, respectively. The Zeno phenomenon can be excluded for both cases under the proposed coordination strategy. It turns out that the spectral properties of matrix-valued weights are crucial in event-triggered mechanism design for matrix-weighted networks with actuator saturation constraint. Finally, simulations are provided to demonstrate the effectiveness of proposed event-triggered coordination strategy. This work provides a more general design framework compared with existing results that are only applicable to scalar-weighted networks.