Dynamic event-triggered consensus of multi-agent systems under directed topology

Event-triggered consensus of multi-agent systems (MASs) under directed topology is investigated in this paper. First, one shortcoming about the event-trigger conditions in some recent results is pointed out through a counterexample. Then, two reasonable event-trigger conditions are proposed and analyzed. Meanwhile, a novel dynamic event-trigger strategy is applied in the two designed event-trigger conditions, in which an auxiliary term is introduced for each agent to regulate its threshold dynamically. It is proved that the dynamic term plays an essential role in excluding Zeno behavior. The case of strongly connected topology is first investigated. Then, the results are extended to the more general topology containing a spanning tree. Numerical example is provided to illustrate the effectiveness of the designed event-trigger conditions.