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Event-triggered Consensus Control of Nonlinear Multi-agent Systems based on First-order Hold

Yu Shang, Cheng-Lin Liu*, and Ke-Cai Cao
International Journal of Control, Automation, and Systems, vol. 19, no. 4, pp.1461-1469, 2021

Abstract : In this paper, consensus problem is studied for the first-order nonlinear multi-agent systems under directed topology, and a novel event-triggered consensus protocol is proposed. Different from the existing results with general zero-order hold, the first-order hold is adopted to construct the event-triggered control signal so as to reduce the triggering rate. By using Lyapunov stability method and matrix theory, a sufficient consensus condition is derived for the agents to reach the asymptotic consensus, and Zeno-behavior can be avoided. Finally, a numerical example is presented to demonstrate the effectiveness of our proposed protocol.

Keyword : Consensus problem, directed topology, event-triggered control, first-order hold, nonlinear multi-agent Systems

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