Consensus of Multi-Agent Systems by Distributed Self-Triggered Control

This paper presents consensus of multi-agent systems by distributed self-triggered control. A self-triggered consensus algorithm with a distributed controller are proposed. It is shown that the asymptotic stability of self-triggered control for multi-agent systems can be achieved. In event-triggered control, the measurement error in the event design is defined based on the state of local neighborhood center in order to reduce the number of events. In self-triggered control, the next triggering instants is predetermined at the previous triggering instants and no spate or error measurement is required. A candidate Lyapunov function is proposed to validate the asymptotic convergence of the multi agent systems. Simulation results are provided to illustrate the theoretical claims.