A Layered Event-Triggered Consensus Scheme
针对多层结构的多智能体系统，提出一种分层事件触发方案，实现层内同步、层间异步通信，最终达成渐近一致性并消除Zeno行为，同时提供避免连续事件检测的算法。
This paper studies the dynamics of multiagent systems with a multilayer structure, proposing a novel layered event-triggered scheme (LETS) for consensus. This LETS emphasizes on synchronous information transmission in the same layer but asynchronous message update between different layers, which differs from the existing centralized or distributed event-triggered schemes. Moreover, under the LETS, agents in different layers achieve asymptotical consensus eventually and the Zeno behavior is successfully eliminated. Furthermore, an algorithm is provided to avoid continuous event detection, verified by a numerical example.