Distributed event-triggered average consensus protocol for Multi-Agent Systems

In this paper, we study distributed event-based consensus protocol for Multi-Agent Systems (MAS) with fixed topology. In the proposed approach, each agent requires to broadcast data to the neighbors just on its own triggering instants which clearly avoid the continuous communications between agents and leads to a great decrease in the network bandwidth usage. In addition, a distributed Event-Triggering Mechanism (ETM) is scheduled to check the violation of the triggering condition just on discrete times. Obviously, it saves computation resources and facilitates more energy saving. Besides, control actuation signal of each agent is updated on triggering instants and remains constant between triggers. Therefore, it reduces the maintenance cost of the actuators. As a result, implementation of the proposed consensus protocol for the real-world applications with limited resources is facilitated. Based on algebraic graph theory and LaSalle´s invariance principle the stability properties under event-based method are proved by theoretical analysis. Finally, simulation examples are provided to validate the effectiveness of the theoretical results.