Event-triggered control of multi-agent systems with suboptimal triggering

In this paper the suboptimal event-triggered control problem of multi-agent systems is studied. Firstly the combinational measurement approach is presented. Compared with the existing works, agents are only triggered at their own event time instants in this approach, which reduces the amount of controller updates in practice. Then based on the convergence proof of the system, we have investigated the system average cost and proposed a suboptimal approach to determine the triggering condition. The effectiveness of the proposed strategy is illustrated by numerical examples.