Event-Triggered Schemes on Leader-Following Consensus of General Linear Multiagent Systems Under Different Topologies
研究了多智能体系统在三种网络拓扑下通过事件触发方案实现领导者跟随共识，提出分布式、集中式和集群式三种方案，均能减少控制更新频率并保证正的事件间隔。
This paper investigates the leader-following consensus for multiagent systems with general linear dynamics by means of event-triggered scheme (ETS). We propose three types of schemes, namely, distributed ETS (distributed-ETS), centralized ETS (centralized-ETS), and clustered ETS (clustered-ETS) for different network topologies. All these schemes guarantee that all followers can track the leader eventually. It should be emphasized that all event-triggered protocols in this paper depend on local information and their executions are distributed. Moreover, it is shown that such event-triggered mechanism can significantly reduce the frequency of control's update. Further, positive inner-event time intervals are assured for those cases of distributed-ETS, centralized-ETS, and clustered-ETS. In addition, two methods are proposed to avoid continuous communication between agents for event detection. Finally, numerical examples are provided to illustrate the effectiveness of the ETSs.