Distributed dynamic event‐triggered control approach to multi‐agent systems via adaptive consensus protocols

This paper studies the event‐triggered consensus problem of multi‐agent system with general linear dynamics. A novel dynamic event‐triggering mechanism (ETM) is proposed, and it is formally shown that the proposed dynamic ETM can achieve larger triggering intervals than the existing ones. Then, a distributed adaptive control protocol is developed with the updating law of coupling strength. With the proposed adaptive control protocol and dynamic ETM, the event‐triggered consensus control protocol can be implemented in a fully distributed way. Moreover, Zeno behavior can be ensured to be excluded, and an algorithm is developed such that the implementation of the proposed consensus control protocol does not need continuous communication between neighboring agents. Finally, the effectiveness of the proposed methods is illustrated by a numerical example.