Observer-Based Dynamic Event-Triggered Consensus of MIMO Linear Multiagent Systems With Directed Topology

This article investigates consensus problems of multiple-input-multiple-output (MIMO) linear multiagent systems (MASs) with directed topology under event-triggered (ET) sampling. First, an observer based on relative outputs is designed to estimate relative full states by utilizing an unknown input observer technique. Second, a controller with static coupling strength and a dynamic ET mechanism (DETM) is proposed. And by developing a Lyapunov function, we show that asymptotical consensus is achieved if the coupling strength is larger than a positive threshold. The threshold, however, depends on some global parameters which are difficult to acquire. Later, an adaptive controller with dynamic coupling strengths as well as a DETM is proposed. And we show that asymptotical consensus is achieved in a fully distributed fashion. Moreover, we show Zeno behavior is avoided. Finally, two examples are given to validate theoretical results.