, Volume 25, Issue 5, pp 845-855

Event-triggered average-consensus of multi-agent systems with weighted and direct topology

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Abstract

This paper investigates the average-consensus problem of multi-agent systems with direct and weighted topologies. Event-triggered control laws are adopted so as to reduce the frequency of individual control updating since the agents may be resource-limited in many real systems. The discrete time instants where the events are triggered are determined by a trigger function with respect to a certain measurement error. A centralized average-consensus protocol is proposed first for networks with fixed interaction topology, the stability and influencing factors of which are also analyzed. The design of trigger functions for networks with variable topology is also discussed. Then the results are extended to the decentralized counterpart, in which agents require only the information of their neighbors. Numerical examples are also provided that demonstrate the effectiveness of the theoretical results.

This research is supported by the National Natural Science Foundation of China under Grant No. 60904064, 61174094, the Program for New Century Excellent Talents in University of China (NCET-10-0506), and the Tianjin Natural Science Foundation of China under Grant No. 09JCYBJC01700.
This paper was recommended for publication by Editor Jinhu LÜ.