Periodic Event-Triggered Optimal Output Consensus of Heterogeneous Multiagent Systems Subject to Communication Delays
针对异构线性多智能体系统，提出一种周期性事件触发分布式控制方案，在通信延迟和强连通有向图下实现渐近最优输出一致性，并保证事件间隔正下界。
This article investigates periodic event-triggered optimal output consensus of heterogeneous linear multiagent systems where each agent has knowledge of only its own cost function. In contrast to existing results, we consider communication delays and general strongly connected digraphs. A novel periodic event-triggered distributed control scheme is proposed, which allows asynchronous event detection and time-varying communication delays. Sufficient conditions with respect to the maximum allowable communication delays and event detection periods to achieve asymptotic optimal output consensus are established. Moreover, it is proved that the proposed periodic event-triggering mechanism can provide a positive lower bound of interevent times which is independent of the event detection period. A simulation example is provided to illustrate the effectiveness of the proposed control scheme.