Adaptive event-triggered consensus of multi-agent systems on directed graphs

Xianwei Li, Zhiyong Sun, Yang Tang (Corresponding author), Hamidreza Karimi

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

36 Citaten (Scopus)


This article systematically studies consensus of linear multiagent systems (MASs) on directed graphs through adaptive event-triggered control. It presents innovative adaptive event-triggered state-feedback protocols with novel composite event-triggering conditions. Two specific designs in terms of different event-triggering conditions and laws of adaption are first discussed for linear MASs on strongly connected directed graphs, which are then extended to general directed graphs that contain a spanning tree. Moreover, another adaptive event-triggered protocol is proposed for solving leader-follower consensus that tracks a leader of a bounded control input. The protocols inherit the merits of both adaptive control and event-triggered control: the protocols can be implemented in a fully distributed way, since the Laplacian is avoided in design, and each agent only needs to know the relative information between neighbors at discrete instants determined by event-triggering conditions. Compared with the existing related results, the proposed protocols are applicable for linear MASs on general directed graphs, and moreover, the time-dependent term in the event-triggering conditions is allowed to be a class of positive L1 functions. Two numerical examples clearly verify the effectiveness of the proposed protocols.

Originele taal-2Engels
Pagina's (van-tot)1670-1685
Aantal pagina's16
TijdschriftIEEE Transactions on Automatic Control
Nummer van het tijdschrift4
Vroegere onlinedatum2020
StatusGepubliceerd - apr. 2021


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