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Event-triggered Consensus for Second-order Multi-agent Systems via Asynchronous Periodic Sampling Control Approach

Qingquan Yang, Jing Li*, Xiangchu Feng, Shuiyan Wu, and Fei Gao
International Journal of Control, Automation, and Systems, vol. 18, no. 6, pp.1399-1411, 2020

Abstract : This paper focuses on asynchronous periodic sampling consensus for leader-following second-order multi-agent systems with event-triggered mechanism for the first time. A distributed control protocol is proposed to improve consistency and to reduce data transmission. We prove that the proposed algorithm is exponentially convergent if the topology contains a directed spanning tree. We acquire the consensus in two situations with the proposed controllers. (i) In the first situation, the positions converge to a nonzero constant and the velocities converge to zero when the velocity of the leader is zero; (ii) In the second situation, the errors of the positions and velocities between the followers and the virtual leader converge to a small region containing 0 when the velocity of the leader is a nonzero constant or time-varying. Finally, a numerical example with three cases is given to illustrate the effectiveness of the proposed asynchronous periodic sampling control method.

Keyword : Asynchronous periodic sampling consensus, event-triggered mechanism, leader-following secondorder multi-agent systems.

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