EVENT-TRIGGERED CONSENSUS CONTROL OF SECOND-ORDER MULTI-AGENT SYSTEMS

This paper investigates the event-triggered consensus problem of second-order multi-agent systems, where data sampling and communication are executed once an event condition is satisfied. A centralized event-triggered control scheme first is established with a state-dependent event condition relying on global state information. Then, in the decentralized counterpart, an event condition for each agent is designed with respect to its own state and the last sampled data of itself and its neighbors. Under the two schemes proposed, consensus is reached with enlarged average sampling periods and no Zeno behavior. Simulations validate the effectiveness of the theoretical results.