Distributed Dynamic Event Triggered and Self Triggered Control for General Linear Multi-agent Systems under Directed Graphs

This paper proposes a distributed dynamic event triggered control mechanism for general linear multi-agent systems(MASs) under directed graphs to solve the consensus problems, and extends it into a self triggered control mechanism. Different from the existing works, the proposed dynamic event triggered mechanism decreases the calculation of event triggered function and triggering times, also removes the assumption that each agent has to broadcast information continuously. By applying the dynamic event triggered function the novel event triggered mechanism is presented and proof that the agents reach a weighted average state asymptotically, and Zeno behavior is also excluded. Then it is extended to an implementable self triggered mechanism. Numerical simulations are provided to illustrate the effectiveness of proposed theoretical event-triggered control protocol designs.