An event-triggered protocol for distributed optimal coordination of double-integrator multi-agent systems

This paper designs two kinds of event-triggered control protocols for distributed optimal coordination of a group of agents with second order dynamics interacting according to given communication graph. First, a centralized event-triggered protocol is developed to accomplish the optimal coordination in the Pareto sense. The parameter is designed by constructing a new Lyapunov function. Second, it is shown that the event-triggered scheme is Zeno-free. Third, a distributed event-triggered protocol is devised by extending the proposed technique. Simulations are provided to demonstrate the effectiveness of the proposed design.