Output Consensus of Heterogeneous Linear Multiagent Systems With Directed Graphs via Adaptive Dynamic Event-Triggered Mechanism
研究了有向通信图下异构线性多智能体系统的输出一致性问题，提出一种自适应动态事件触发机制，节省通信和控制器更新资源，并保证事件间隔存在严格正下界。
This article investigates the output consensus problem of heterogeneous linear multiagent systems under directed communication graphs. A novel adaptive dynamic event-triggered mechanism is proposed, intending to further save system resources consumed in communication between agents and controller update of agents themselves, and remove the assumption that the global information associated with the communication topology should be known in advance for the design of control parameters. Unlike the existing related adaptive event-triggered algorithms, the proposed algorithm could theoretically guarantee the existence of a strictly positive constant on the interevent time intervals for both communication between agents and controller update. Furthermore, it is shown by the simulation that the addition of a dynamic variable has the potential to further optimize the control cost when compared to the addition of exponential function signal or <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$L_{1}$ </tex-math></inline-formula> signal usually adopted in existing adaptive event-triggered mechanisms. Then, the obtained results are extended from the strongly connected graph to the directed communication graph only containing a spanning tree. Finally, numerical simulation results are conducted to demonstrate the effectiveness of the proposed mechanism.