Observer-Based Dynamic Event-Triggered Consensus of MIMO Linear Multiagent Systems With Directed Topology
研究了有向拓扑下多输入多输出线性多智能体系统的事件触发一致性问题，设计了基于相对输出的观测器和动态事件触发机制，并提出了自适应控制器实现完全分布式一致性，避免了Zeno行为。
This article investigates consensus problems of multiple-input-multiple-output (MIMO) linear multiagent systems (MASs) with directed topology under event-triggered (ET) sampling. First, an observer based on relative outputs is designed to estimate relative full states by utilizing an unknown input observer technique. Second, a controller with static coupling strength and a dynamic ET mechanism (DETM) is proposed. And by developing a Lyapunov function, we show that asymptotical consensus is achieved if the coupling strength is larger than a positive threshold. The threshold, however, depends on some global parameters which are difficult to acquire. Later, an adaptive controller with dynamic coupling strengths as well as a DETM is proposed. And we show that asymptotical consensus is achieved in a fully distributed fashion. Moreover, we show Zeno behavior is avoided. Finally, two examples are given to validate theoretical results.