Event-triggered average-consensus for multi-agent systems

This paper investigates average-consensus protocols for multi-agent systems. The control actuation updates considered in this paper are event-driven, depending on a trigger function with respect to a certain measurement error. Then two average-consensus protocols with different trigger functions are proposed and their stability is analyzed. Based on the analysis, the key of designing such kind of protocol is proposing a proper trigger function that should guarantee the overall system does not exhibit Zero behavior. Numerical simulations are given that demonstrate the effectiveness of the theoretical results.