### Event-Triggered Control for Multi-Agent Systems:Event Mechanisms for Information Transmission and Controller Update

LIU Pin1,2, XIAO Feng1,2, WEI Bo2

1. 1. State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources, North China Electric Power University, Beijing 102206, China; 2. School of Control and Computer Engineering, North China Electric Power University, Beijing 102206, China
• Received:2020-08-29 Revised:2021-01-13 Published:2022-06-20
• Supported by:
This research was supported by the National Natural Science Foundation of China under Grant No. 61973060 and the Science Center Program of National Natural Science Foundation of China under Grant No. 62188101.

LIU Pin, XIAO Feng, WEI Bo. Event-Triggered Control for Multi-Agent Systems:Event Mechanisms for Information Transmission and Controller Update[J]. Journal of Systems Science and Complexity, 2022, 35(3): 953-972.

This paper investigates the state consensus of linear multi-agent systems in a graph where each agent is equipped with two novel event-triggering mechanisms. Each agent utilizes them to avoid continuous information transmissions with its neighbors and to reduce the frequencies of controller updates, respectively. One of the event-triggering mechanisms defines a threshold of state errors by a constant plus a state-dependent variable. The other event-triggering mechanism introduces a period of rest time after each event. For each agent, both event-triggering mechanisms are fully distributed and are independent of any global information. The authors utilize a co-design approach to deal with the interplay between control gains and parameters in event-triggering mechanisms. With appropriate control gains in control laws and parameters in event-triggering conditions, subsystems employing discrete-time signals from neighbors and discrete-time signals from their controllers achieve the state consensus. Simulations are performed to illustrate the effectiveness of the proposed event-triggering mechanisms.
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