Event-Triggered Communication for Leader-Following Consensus of Second-Order Multiagent Systems

Area of Science:

• Control Theory
• Networked Systems
• Robotics

Background:

• Leader-following consensus is crucial for coordinating multiagent systems.
• Existing methods often require continuous communication, straining resources.
• Nonlinear dynamics in second-order systems present significant control challenges.

Purpose of the Study:

• To develop an efficient leader-following consensus protocol for second-order nonlinear multiagent systems.
• To reduce communication load by implementing an event-triggered control strategy.
• To enhance the applicability of consensus criteria through a novel leader adjacency matrix adjustment algorithm.

Main Methods:

• Development of a novel event-triggered control protocol.
• Application of Lyapunov functional method and Kronecker product technique.
• Introduction of an algorithm for dynamic adjustment of the leader adjacency matrix.

Main Results:

• A new sufficient criterion for leader-following consensus is derived, proving less conservative than existing ones.
• The proposed protocol effectively excludes Zeno behavior, ensuring practical implementation.
• The leader adjacency matrix adjustment algorithm expands the utility of current consensus criteria.

Conclusions:

• The developed event-triggered control protocol ensures leader-following consensus in second-order nonlinear multiagent systems efficiently.
• The novel algorithm for leader adjacency matrix adjustment broadens the scope of application for consensus protocols.
• The findings contribute to resource-efficient and robust coordination in complex multiagent systems.