Decentralized event-triggered consensus control strategy for leader-follower networked systems

In this paper, the consensus problem of leader-follower networked systems is addressed. At first, a centralized and a decentralized event-triggered control strategy are proposed, which make the control actuators of followers update at aperiodic invent interval. In particular, the latter one makes each follower requires the local information only. After that, an improved triggering function that only uses the follower's own information and the neighbors' states at their latest event instants is developed to relax the requirement of the continuous state of the neighbors. In addition, the strategy does not require the information of the topology, nor the eigenvalues of the Laplacian matrix. And if the follower does not have direct connection to the leader, the leader's information is not required either. It is analytically shown that by using the proposed strategy the leader-follower networked system is able to reach consensus without continuous communication among followers. Simulation examples are given to show effectiveness of the proposed control strategy.