Event-Triggered Cluster Consensus of Multi-Agent Systems via a Modified Genetic Algorithm

This article is concerned with the event-triggered output feedback cluster consensus of leader-following multi-agent systems (MASs) under limited communication resources. Specifically, the distributed agents are divided into several clusters to accomplish different collective tasks under diverse intracluster and intercluster communications. First, to alleviate excessive communication resource consumption, two sampled-data-based event-triggered schemes are developed to distinguish agent-to-agent communications within clusters and between clusters. Based on these schemes, an event-based cluster consensus control protocol is proposed to solve the problem. Then, sufficient criteria on asymptotic stability of the resulting closed-loop system are derived and expressed in terms of matrix inequalities. It is noteworthy that the derived criteria for controller design are nonlinear and nonconvex with respect to the output feedback control gains and triggering parameters. To handle this issue, a modified genetic algorithm (MGA) with multiple subpopulations is proposed, where the subpopulations are independent of each other. The key feature of the designed MGA lies in that the fitness value is described as an accumulation of initial value and weighing value of each matrix inequality. Finally, an application of satellite formation flying is exemplified to demonstrate the effectiveness of the derived theoretical results.