Event-triggered and quantized self-triggered control for multi-agent systems based on relative state measurements

This paper studies the consensus problem of multi-agent systems by event-and self-triggered control. An event-triggered algorithm with periodic event detection and relative state measurements is designed to determine all event times. Furthermore, a self-triggered control algorithm with periodic event detection and quantization is proposed to further reduce resource consumption. In the proposed control strategies, only relative state information, or called edge information, is utilized by controllers, and all edge state information incident to each agent is processed together. The results are illustrated by two numerical experiments. (C) 2019 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.