Self-triggered output feedback control for consensus of multi-agent systems

This paper studies the self-triggered control consensus problem of general linear multi-agent systems(MASs). A novel self-triggered control strategy based on output feedback is proposed for centralized and distributed cases, respectively. In consideration of the states of agents that are not available, a state observer is adopted. A dynamic observer-based control law is employed to improve the transient response. Under this triggering strategy, both the estimated states of MASs and the states of controller are updated at triggering time. The next triggering time is predetermined at the last triggering instant. Moreover, the asymptotic consensus of MASs can be guaranteed. Finally, the effectiveness of the proposed control strategy is illustrated by a numerical example.