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Consensus of nonlinear multiagent systems with intermittent dynamic event-triggered protocols

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Abstract

This paper studies the consensus of leader-following multiagent systems with nonlinear dynamics. Consider that control protocols for the consensus work under an intermittent framework due to inevitable factors; meanwhile, the event-triggered mechanism is introduced, so as to reduce the update frequency of the control protocols. In particular, threshold parameters in the event-triggered conditions are supposed to be dynamically changed, and the minimum event-triggered intervals are set to be positive in advance. Furthermore, according to whether event-triggered conditions depend on combined measurements or a single measurement, two forms of event-triggered schemes are designed; then, the corresponding distributed control protocols are demonstrated. Based on the graph theory and Lyapunov function method, sufficient conditions and a concrete algorithm for the consensus of multiagent systems are presented. It is shown that the intermittent dynamic event-triggered protocols given in this paper can effectively reduce the update frequency of control and exclude Zeno behavior. Finally, detailed numerical examples are supplied to illustrate the proposed results.

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Acknowledgements

This work of A. Hu was supported by the Natural Science Foundation of Jiangsu Province (No. BK20181342). The work of J.H. Park was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIT) (No. 2020R1A2B5B02002002).

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Authors and Affiliations

  1. School of Science, Jiangnan University, Wuxi, 214122, China

    Aihua Hu & Manfeng Hu

  2. Department of Electrical Engineering, Yeungnam University, Kyongsan, 38541, Republic of Korea

    Aihua Hu & Ju H. Park

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  1. Aihua Hu
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  2. Ju H. Park
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Hu, A., Park, J.H. & Hu, M. Consensus of nonlinear multiagent systems with intermittent dynamic event-triggered protocols. Nonlinear Dyn 104, 1299–1313 (2021). https://doi.org/10.1007/s11071-021-06321-6

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