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Event-Triggered Multiagent Consensus Under Relative Output Sensing.

Xianwei Li, Yang Tang, Yuanyuan Zou

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    Summary
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    This study introduces event-triggered (ET) consensus protocols for linear multiagent systems, reducing communication load. The proposed methods ensure system consensus without continuous neighbor monitoring, avoiding Zeno behavior.

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    Area of Science:

    • Control Theory
    • Networked Systems
    • Distributed Systems

    Background:

    • Consensus algorithms are crucial for coordinating multiagent systems.
    • Traditional methods often require continuous communication, leading to high bandwidth usage.
    • Event-triggered (ET) strategies offer a promising alternative to reduce communication load.

    Purpose of the Study:

    • To investigate event-triggered (ET) consensus for linear multiagent systems with relative output sensing.
    • To develop novel output-feedback protocols that minimize communication burdens.
    • To ensure closed-loop consensus and exclude Zeno behaviors.

    Main Methods:

    • Proposed two output-feedback protocols with static and time-varying coupling strengths.
    • Integrated effective event-triggered (ET) strategies into the protocols.
    • Derived design conditions for gain matrices, coupling strengths, and event-triggering functions.
    • Devised recursive algorithms for computing continuous-time relative signals to avoid continuous monitoring.

    Main Results:

    • Successfully demonstrated event-triggered (ET) consensus for linear multiagent systems with relative output sensing.
    • Achieved reduced communication burdens compared to existing relative output sensing methods.
    • Proved the exclusion of Zeno behaviors in the triggering process.
    • Validated the effectiveness of the proposed design through numerical examples.

    Conclusions:

    • The proposed event-triggered (ET) consensus protocols are effective in achieving coordination with reduced communication.
    • The developed recursive algorithms circumvent the need for continuous monitoring, enhancing efficiency.
    • The study provides a robust framework for designing ET consensus systems with relative output sensing.