Event-triggered distributed optimal consensus control for multi-agent systems with actuator saturation

This paper focuses on the design of the event-triggered distributed optimal consensus control for a multi-agent system with saturation actuator under a strongly connected weight-balanced digraph. An event-triggered control protocol with a sigmoid function is presented, which reduces the communication workload among agents and overcomes the actuator saturation. The convergency to the optimal consensus point of the distributed multi-agent systems is transformed into stability analysis of the corresponding closed-loop systems, which has been provern by Lyapunov theory. Furthermore, it is shown that there is no Zeno behavior for such a protocol. Finally, a simulation result is presented to demonstrate the effectiveness of the control protocol.