Leader-Following and Leaderless Consensus of Linear Multiagent Systems Under Directed Graphs by Double Dynamic Event-Triggered Mechanism
提出一个统一框架，研究有向通信拓扑下线性多智能体系统的领导者跟随和无领导者一致性问题，通过双重动态事件触发机制降低通信和控制器更新成本，并用李雅普诺夫方法设计参数。
This article proposes a unified framework to investigate the leader-following and leaderless consensus problem of general linear multiagent systems under the directed communication topology only containing a spanning tree. To further reduce the use of resources for the control objective, an energy-saving control algorithm is introduced composed of double dynamic event-triggered mechanisms that work independently: one intends to control the communication of agents with their neighbors and the other to decide the update of controllers. It is shown that the control algorithm performs well compared to most existing control algorithms in terms of the communication cost between agents and the update cost of controllers. In addition, a new procedure to choose parameters is obtained by the developed Lyapunov stabilty method, with the potential of achieving less conservative parameters than related results. Finally, the effectiveness of the proposed control scheme is verified by numerical simulations.