Event-triggered control of multi-agent systems by combined measurement approach

This paper studies the event-triggered rendezvous control problem of multi-agent systems. The measurement error, which is essential in the event design, is determined based on a combination of the neighbors´ states of each agent. Therefore, agents neednot to be informed the triggering time sequences of their neighbors and are only triggered at their own event time instants. As a result, the amount of communication and input updates can be reduced in practice. We have also investigated the inter-event time of agents to guarantee that there is no Zeno behavior and proved the rendezvous result of the agent group. The effectiveness of the proposed control law is illustrated by a numerical example.