Adaptive Event-Triggered Consensus of Multiagent Systems on Directed Graphs

• 成果类型: Article
• 署名作者: Li, Xianwei; Sun, Zhiyong; Tang, Yang; Karimi, Hamid Reza
• 署名单位: Shanghai Jiao Tong University; Lund University; Eindhoven University of Technology; East China University of Science & Technology; Polytechnic University of Milan
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.3000819
• 发表日期: 2021
• 页码: 1670-1685
• 关键词: adaptive control; consensus; Directed graphs; event-triggering control; multiagent systems (MASs)

摘要

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 L-1 functions. Two numerical examples clearly verify the effectiveness of the proposed protocols.