Double event-triggered control for linear multi-agent systems with augmented dynamic triggering mechanisms

Highlights：

• Requirements for continuous communication and control signal updating are removed without using neighboring agents’ control input, which makes it more practical.

• Some steps in the design process are directly derived from equality rather than inequality, which obtains less conservative ETM design than existing methods. Thus, the error threshold in the proposed triggering function is greater, and the consensus is achieved without extra constraint conditions.

• An augmented dynamic ETM is proposed which can be seen as an extended version of the traditional method. Some exponential terms are added into the derivative of the internal dynamic variables to increase the effect of these variables. It makes the method further extend the events interval than traditional ones.

摘要

•Compared with the methods in some existing literature, the employed double ETMs can reduce both the communication resources consumption among agents and control updates simultaneously, thus it widens the trade-off choice between the performance and resource saving.•Requirements for continuous communication and control signal updating are removed without using neighboring agents’ control input, which makes it more practical.•Some steps in the design process are directly derived from equality rather than inequality, which obtains less conservative ETM design than existing methods. Thus, the error threshold in the proposed triggering function is greater, and the consensus is achieved without extra constraint conditions.•An augmented dynamic ETM is proposed which can be seen as an extended version of the traditional method. Some exponential terms are added into the derivative of the internal dynamic variables to increase the effect of these variables. It makes the method further extend the events interval than traditional ones.