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Distributed Event-triggered Consensus Control for Heterogeneous Multiagent Systems under Fixed and Switching Topologies

Junhua Huang, Liding Chen, Xuhuan Xie, Mufeng Wang, and Bugong Xu*
International Journal of Control, Automation, and Systems, vol. 17, no. 8, pp.1945-1956, 2019

Abstract : This paper investigates the distributed consensus problem for heterogeneous multi-agent systems via event-triggered scheme. To alleviate the communication burden, a distributed event-triggered consensus algorithm using an open-loo estimate and neighboring information is proposed. In the proposed event-triggered scheme, the control input of each agent is dependent on the estimate and information at discrete instants. Firstly, the novel event-triggered consensus algorithm is proposed for fixed topology, which involves the discrete communication between neighboring agents. Then, for the switching topology, the triggering condition is proposed by virtue of a topology-dependent dwell time approach. Further, the corresponding consensus procedures are given. Finally, the effectiveness of the proposed scheme is illustrated by numerical results.

Keyword : Estimation, event-triggered control, heterogeneity, multi-agent systems.

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