Event-based consensus in directed network topologies with linear dynamic agents

This paper considers consensus problem for multi-agent systems with general linear dynamics communicating over a directed topology and proposes an event-based consensus controller which guarantees asymptotic stability along with decreasing in data transmission among agents. A co-design procedure is given to determine the parameters of the event-triggered transmission protocol and the consensus controller, simultaneously. In the proposed approach, each agent broadcasts data to the neighbors just at its own trigger instants, unlike to the most existing related works in which continuous communication among agents was required. As a result, such control scheme decreases the network bandwidth usage, sensor energy consumption, and actuator wears. The stability of the closed-loop system under event-based controller is proved analytically. Furthermore, Zeno behavior exclusion is discussed analytically. The effectiveness of the proposed controller is illustrated by simulation results.