Event-triggered multi-agent coordination in directed graphs: An intermittent control approach

This paper develops a communication-efficient event-triggered intermittent control strategy for multi-agent coordination in directed graphs. The proposed approach establishes a condition ensuring the existence of a minimum time interval between consecutive triggered events, meaning that the event will not be triggered immediately even if the triggering condition is satisfied. This mechanism effectively reduces the communication burden and eliminates Zeno behavior. Another key advantage is that the proposed strategy is asynchronous and aperiodic, and does not require any additional constraints on control or rest periods, thus reducing the conservatism of intermittent control strategies. Finally, both numerical simulations and physical experiments are conducted on a multi-UAV coordination platform to validate the effectiveness and practical applicability of the proposed strategy.