Event-triggered consensus for discrete-time linear multi-agent systems under general directed graphs

This paper considers the decentralized event-triggered consensus problem for discrete-time linear multi-agent systems. The communication topology among agents is assumed to be a general directed graph containing a spanning tree. We propose an event-based consensus control algorithm rendering the states of agents reach consensus. The triggering condition is decentralized only based on the agent´s own information. Compared to the traditional consensus control law which needs communication at every iteration, the proposed event-triggered consensus algorithm in this paper can reduce the communication load greatly. Simulation is given to illustrate the theoretical results.