Iterative self-triggered consensus of multi-agent systems under dynamically changing graphs

In this note, we study the consensus problem for a group of agents that communicate via a switching information network. The results are equipped with a self-triggered strategy to reduce the frequency of individual agent control updating since the agents may be resource-limited in many real-world situations, where each agent only updates its control input at its own event instants. Moreover, we provide weaker conditions on connectivity under time-dependent interaction topologies based on the convergence analysis of the basic self-triggered algorithm. The effectiveness of the proposed technique is clarified by numerical simulations.