Leader-Following Consensus of Multi-Agent Systems via Fully Distributed Event-Based Control  

作　　者：GENG Zongsheng ZHAO Dongdong ZHOU Xingwen YAN Lei YAN Shi 耿宗盛;赵东东;周兴文;闫磊;阎石(School of Information Science and Engineering,Lanzhou University,Lanzhou,730000,China;Engineering Research Center of Open-Source Software and Real-Time Systems of Ministry of Education,Lanzhou University,Lanzhou,730000,China)

机构地区：[1]School of Information Science and Engineering,Lanzhou University,Lanzhou,730000,China [2]Engineering Research Center of Open-Source Software and Real-Time Systems of Ministry of Education,Lanzhou University,Lanzhou,730000,China

出　　处：《Journal of Shanghai Jiaotong university(Science)》2024年第4期640-645,共6页上海交通大学学报（英文版）

基　　金：National Natural Science Foundation of China(Nos.U22B2040 and 62233003);Fundamental Research Funds for the Central Universities(No.lzujbky-2022-kb12)。

摘　　要：This paper aims to study the leader-following consensus of linear multi-agent systems on undirected graphs.Specifically,we construct an adaptive event-based protocol that can be implemented in a fully distributed way by using only local relative information.This protocol is also resource-friendly as it will be updated only when the agent violates the designed event-triggering function.A sufficient condition is proposed for the leader-following consensus of linear multi-agent systems based on the Lyapunov approach,and the Zeno-behavior is excluded.Finally,two numerical examples are provided to illustrate the effectiveness of the theoretical results.

关 键 词：CONSENSUS multi-agent systems event-based control adaptive control fully distributed protocol 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]