DISTRIBUTED EVENT-TRIGGERED AVERAGE CONSENSUS OF MULTI-AGENT SYSTEMS

ABSTRACT This paper proposes a novel event-triggered consensus protocol for single-integrator multi-agent systems. The event detector is designed based on the local sampled-data, and information exchange is carried out only at corresponding event instants. The Lyapunov function method is employed to derive the sufficient conditions for average consensus. The bound of the inter-event time is ensured, and thus Zeno-behavior is avoided. Finally, the effectiveness of the proposed strategy is illustrated by numerical simulations.