Distributed Dynamic Event-Triggered Consensus Protocol for General Linear Multiagent Systems Without Accurate System Information
针对多智能体系统模型信息不准确的情况，提出一种分布式动态事件触发一致性协议，通过设计混合触发阈值和弹性函数延长事件间隔，降低计算和通信成本，并严格证明收敛性和排除Zeno行为。
This study focuses on distributed event-triggered consensus control under the scenario where only inaccurate agent model information is available. By designing a novel triggering error, a distributed dynamic event-triggered consensus (DETC) protocol is proposed for multiagent systems (MASs) with general linear dynamics over digraphs, without accurate a priori information of agent models. To improve the efficiency of the dynamic triggering law, a mixed triggering threshold is designed with a resilient function integrated to further enlarge interevent intervals. Within the proposed DETC protocol, the computational cost is significantly reduced especially for MASs with nonsparse and high-dimensional agent system matrices. In addition, for each individual agent, the states of neighboring agents used for triggering detections or controller updates are required in an on-demand (instead of continuous) way, which preserves communication resources and facilitates practical implementation. The feasibility of the designed DETC protocol is corroborated by rigorous theoretical analysis on consensus convergence and Zeno behavior exclusion. Finally, simulations are shown to demonstrate the effectiveness of the studied theory.