Distributed edge-event triggered consensus control for multi-agent systems by edge-based asynchronous communications

Highlights：

• Compared with the article [28], the edge-event triggered mechanism designed in this paper makes each agent asynchronously transmit information to all its out-neighbors if and only if the corresponding triggering condition is satisfied. This saves system resources and is suitable for MASs with limited network bandwidth.

• The first static edge-event triggered control protocol relies on the global value of the system network as in [28,32], but it is more conducive to reducing the update frequency and saving energy. And it solved the consensus problem of the nonlinear MASs with Lipschitz dynamics. If the nonlinear term is 0, the consensus problem of the MASs given in [28,32] can also be solved by control protocols designed in this paper. Moreover, the second control protocol designed in the paper avoids the shortcoming of the first control protocol by introducing adaptive coupling weights.

• The edge-based communication is a more distributed mode to communicate with neighbors compared with neighbor-based communication mechanism [29–38]. Moreover, the triggering functions are more easier to calculate than [24,29,35],

摘要

•Two types of novel asynchronous edge-event triggered mechanisms are designed, under which each subsystem does not exhibit the Zeno behavior. Moreover, both the controller and the triggering mechanism are constructed without the need for continuous information between neighbors.•Compared with the article [28], the edge-event triggered mechanism designed in this paper makes each agent asynchronously transmit information to all its out-neighbors if and only if the corresponding triggering condition is satisfied. This saves system resources and is suitable for MASs with limited network bandwidth.•The first static edge-event triggered control protocol relies on the global value of the system network as in [28,32], but it is more conducive to reducing the update frequency and saving energy. And it solved the consensus problem of the nonlinear MASs with Lipschitz dynamics. If the nonlinear term is 0, the consensus problem of the MASs given in [28,32] can also be solved by control protocols designed in this paper. Moreover, the second control protocol designed in the paper avoids the shortcoming of the first control protocol by introducing adaptive coupling weights.•The edge-based communication is a more distributed mode to communicate with neighbors compared with neighbor-based communication mechanism [29–38]. Moreover, the triggering functions are more easier to calculate than [24,29,35],