Event- Triggered Distributed Control of Multiagent Systems: A Performance Recovery Consideration

Although event-triggered architectures reduce the total number of agent-to-agent information exchange in distributed control of multiagent systems, their closed-loop performance can significantly deviate from their ideal, non-event-triggered counterparts. To address this issue, this paper presents a decentralized corrective signal, which is system-theoretically designed to achieve the ideal closed-loop multi agent system performance in event-triggered distributed control. In particu-lar, the stability of the event-triggered closed-loop multiagent system with this decentralized corrective signal is first given and it is then demonstrated that the closed-loop performance approaches its ideal one as the gain of the decentralized corrective signal increases. A numerical example is also presented to illustrate the effectiveness of our approach when it is applied to a team of nonholonomic agents. While the results of this paper focus on performance recovery in distributed control of leader-follower multi agent systems over connected and undirected graphs, the presented decentralized corrective signal can be adapted for use in other distributed control architectures (e.g., consensus, containment, and formation control) as well as for other graph topologies, with minor changes.