Consensus Control for a Multi-Agent System With Integral-Type Event-Triggering Condition and Asynchronous Periodic Detection

Abstract

In this paper, we use an event-triggered control methode to study the consensus problem for an asynchronous distributed multi-agent system. An integral-type event-triggering condition is proposed. Each agent periodically checks its triggering condition by its own clock. When the triggering condition for an agent is satisfied, then control inputs of this agent and its neighbors are updated. Based on local information, we present the consensus protocol, and using Lyapunov's methods, we show that all agents asymptotically reach an agreement on states. Finally, experiments are presented to demonstrate the effectiveness of our proposed protocol.