Dynamic Event-triggered Consensus Control of Discrete-time Linear Multi-agent Systems

We consider the distributed event-triggered consensus control problem of linear multi-agent systems in the discrete-time domain The agents interact locally and exchange their state information with each other to reach a group decision value. We develop event-triggering protocols to facilitate opportunistic inter-agent communication and control updates for saving energy expenses. Continuous communication is avoided in triggering the conditions for monitoring and controller updates. Our general approach is to employ event-triggering laws with threshold mechanisms that depend on the states of the agents. We start with a static version and then generalize it so that it entails an internal auxiliary variable to regulate the threshold dynamically for each agent. Lyapunov-based design methods dictate when agents should communicate and update their control so that the network achieves consensus. A numerical example is provided to illustrate the efficacy of theoretical analysis. Copyright (C) 2021 The Authors.