Completely Event-Triggered Consensus for Multiagent Systems With Directed Switching Topologies
研究了有向切换拓扑下多智能体系统的领导跟随一致性问题，提出完全事件触发机制以减少数据传输，并通过矩阵不等式方法优化切换拓扑的平均驻留时间，最后用自主水下航行器示例验证了有效性。
This article studies the leader-following consensus of multiagent systems (MASs) with completely event-triggered mechanisms (CETMs) and directed switching topologies. When most event-triggered schemes in MASs only reduce each agent's data transmissions to neighbor agents, CETMs further reduce data transmissions to actuators with one triggered function in each agent. To guarantee the switching links utilized by CETMs contain a directed spanning tree at any time, triggered decisions are improved to include the instants at which each agent's output links or leader link change. Furthermore, a less conservative method based on matrix inequalities is combined to minimize the allowable average dwell time (ADT) of switching topologies under the design conditions of CETMs. Based on multiple Lyapunov functions (MLFs), the sufficient conditions for controller gains that guarantee the leader-following consensus of MASs are proposed when the ADT of switching topologies is larger than the allowable value. Finally, an example of autonomous underwater vehicles (AUVs) is given to illustrate the effectiveness of CETMs.