Pull-Based Distributed Event-Triggered Consensus for Multiagent Systems With Directed Topologies

This paper mainly investigates consensus problem with a pull-based event-triggered feedback control. For each agent, the diffusion coupling feedbacks are based on the states of its in-neighbors at its latest triggering time, and the next triggering time of this agent is determined by its in-neighbors' information. The general directed topologies, including irreducible and reducible cases, are investigated. The scenario of distributed continuous communication is considered first. It is proved that if the network topology has a spanning tree, then the event-triggered coupling algorithm can realize the consensus for the multiagent system. Then, the results are extended to discontinuous communication, i.e., self-triggered control, where each agent computes its next triggering time in advance without having to observe the system's states continuously. The effectiveness of the theoretical results is illustrated by a numerical example finally.