Average consensus of multi-agent systems with self-triggered controllers

In this paper the average consensus problem of multi-agent systems under the event-triggered controller is investigated. In event-triggered consensus, an event of each agent occurs only when the state measurement error exceeds a given threshold, and then the agent communicates with its neighbors and updates the control input at the event time. By appropriate event design, discontinuous threshold is employed and thus continuous communication among agents can be avoided to reduce energy consumption in practice. To avoid Zeno behavior, an event/time hybrid trigger is proposed to guarantee asymptotic consensus while excluding Zeno behaviors. Moreover, we develop a self-triggered algorithm to determine the event time instants to further avoid continuous self-state monitoring. Simulation results illustrate the effectiveness of the proposed approach.