Aperiodic Sampling Event-Triggered Consensus Control for Multi-Agent Systems

摘要

The event-triggered consensus control issue for multi-agent systems (MASs) under aperiodic sample data is concerned in this paper. An event-triggered approach with respect to the varying sampling period is proposed, which has the characteristics of both aperiodic and event-driven sampling. Relying on this data transmission mechanism, a consensus controller with nonperiodic sampling is put forward in consideration of the actuator failure. The consensus issue of MASs can be handled by investigating the corresponding stability issue. By utilizing the Lyapunov Krasovskii functional, a stability criteria for MASs are presented. Adopting linear matrix inequalities (LMIs), it naturally establishes the sufficient condition for the codesign of the controller gain and triggering parameters, which guarantees system asymptotical stability. Finally, numerical simulations are performed and experimental results are used to confirm the correctness of the designed algorithms.