Reduced-Order Observer-Based Event-Triggered Consensus Control of Linear MASs With Directed Topologies

This paper addresses the event-triggered leaderless and leader-follower consensus problems of general linear multiagent systems (MASs) under directed topologies. By utilizing the relative outputs of neighboring agents, two novel distributed reduced-order observer-based event-triggered control (ETC) laws are proposed. Based on the Lyapunov function method, it is proved that the leaderless consensus and the leader-following consensus can be achieved under the proposed control laws, respectively. Additionally, the Zeno behavior is proven to be excluded. Finally, two simulation examples are provided to demonstrate the effectiveness of the obtained results.

I. Introduction

Because of its widespread use in intelligent transportation systems and military applications, among others, consensus control of MASs has drawn substantial attention over the past decades [1]-[3]. The objective of consensus control is to design appropriate control protocols using local information so that the states or outputs of all agents can achieve agreement. To date, numerous consensus control mechanisms have been proposed [4]-[6]. In [6], a control protocol was designed to address the leaderless and leader-follower consensus problems of discrete-time linear multi-agent systems under directed switching topology.