Event-Based Second-Order Consensus Control for Multi-Agent Systems via Synchronous Periodic Event Detection

Abstract

This technical note studies the consensus problem of multiple double-integrator networks under undirected topologies. A consensus protocol based on sampled-data control and edge event-driven techniques is proposed, and two associated event-triggering rules are presented. These edge events rely on the information of the corresponding two neighboring agents, and the event-triggering actions over edges are independent of each other. It is proved that the proposed protocol can solve the state consensus problem when the topology is connected, and also can reduce the controller-updating costs and communication costs. Finally, simulations are given to demonstrate the effectiveness of our theoretical results.