Consensus of Heterogeneous Multiagent Systems Based on Decentralized Event-Triggered Scheme

In this paper, the consensus problem of heterogenous multi-agent systems (MASs) based on decentralized event-triggered strategy is considered. In order to alleviate the energy consumption of updating the control input, a decentralized event-triggered scheme is adopted. Each agent can decide its own triggering time sequence which is based on the communicating information from its neighbors and update its control input agreement according to its corresponding event time. Based on Lyapunov functional method, Lasalle invariance principle and algebraic graph theory, some novel sufficient conditions are derived to ensure the consensus of heterogeneous MASs and the Zeno behavior is also demonstrated to be excluded. Numerical examples are finally presented to demonstrate the results of the decentralized event-triggered consensus control.