Observer-based Event-triggered Model Reference Control for Multi-agent Systems

The main contribution of this paper is the design of an observer-based model reference control for multi-agent systems with event-triggered mechanism using a dynamic-threshold. Since the full state vector is not always available, an observer is considered for each agent. In order to guarantee convergence of all the agents to the reference trajectory, linear matrix inequality (LMI)-based conditions are obtained for computing the controller and observer gains. Based on the closed-loop multi-agent system, an event-triggered mechanism is designed to reduce the information exchange between agents. The effectiveness of the proposed approach is illustrated through numerical examples.