This paper studies the consensus problem of multi-agent systems with general linear dynamics. We propose a novel event-triggered control scheme with some desirable features, namely, distributed, asynchronous, and independent. It is shown that consensus of the controlled multi-agent system can be reached asymptotically. The feasibility of the event-triggered strategy is further verified by the exclusion of both singular triggering and Zeno behavior. Moreover, a self-triggered algorithm is developed, where the next triggering time instant for each agent is determined based on its local information at the previous triggering time instant. Continuous monitoring of measurement errors is thus avoided. The effectiveness of the proposed control schemes is demonstrated by two examples.

In this paper, we study the consensus problem for a class of linear multiagent systems, where the communication networks are directed. First, a dynamic event-triggering mechanism is introduced, including some existing static event-triggering mechanisms as its special cases. Second, based on the dynamic event-triggering mechanism, a distributed control protocol is developed, which ensures that all agents can reach consensus with an exponential convergence rate. Third, it is shown that, with the dynamic event-triggering mechanism, the minimum interevent time between any two consecutive triggering instants can be prolonged and no agent exhibits Zeno behavior. Finally, an algorithm is provided to avoid continuous communication when the dynamic event-triggering mechanism is implemented. The effectiveness of the results is confirmed through a numerical example.

This paper addresses the output consensus problem of heterogeneous linear multi-agent systems. We first propose a novel distributed event-triggered control scheme. It is shown that, with the proposed control scheme, the output consensus problem can be solved if two matrix equations are satisfied. Then, we further propose a novel self-triggered control scheme, with which continuous monitoring is avoided. By introducing a fixed timer into both event- and self-triggered control schemes, Zeno behavior can be ruled out for each agent. The effectiveness of the event- and self-triggered control schemes is illustrated by an example.

In this paper, we consider the cooperative output regulation problem of heterogeneous linear multi-agent systems (MASs) by event-triggered control. We first develop an event-triggering mechanism for leader-following consensus of homogeneous MASs. Then by proposing an internal reference model for each agent, a novel distributed event-triggered control scheme is developed to solve the cooperative output regulation problem of heterogeneous MASs. Furthermore, a novel self-triggered control scheme is also proposed, such that continuous monitoring of measurement errors can be avoided. The feasibility of both proposed control schemes is studied by excluding Zeno behavior for each agent. An example is finally provided to demonstrate the effectiveness of the control schemes.

This paper addresses the cooperative output regulation problem of heterogeneous linear multi-agent systems with directed communication topologies, requiring only intermittent communication. First, we propose a unified framework of time- and event-triggering strategies. Then based on the unified triggering framework, a novel triggering mechanism utilizing the self-triggering strategy is developed. It is shown that with the proposed triggering mechanism, the cooperative output regulation problem can be solved by a distributed control law with only intermittent communication. It is further shown that with the unified framework of time- and event-triggering strategies for each agent, a positive minimum inter-event time can be explicitly given and Zeno behavior can be thus excluded. An example is finally provided to demonstrate the effectiveness of the proposed controller and the triggering mechanism.

This paper addresses the cooperative output regulation problem of linear multi-agent systems under switching communication topologies. A distributed event-triggered control scheme is proposed so that the cooperative output regulation problem is solved with only intermittent communication. The communication topology is not required to be connected at every time instant under the jointly connected assumption. With the proposed triggering mechanism, each agent only transmits the information to its neighbors at its own triggering times or the switching times. By introducing a fixed timer, Zeno behavior is strictly excluded for each agent. The effectiveness of the proposed control scheme is demonstrated by an example.