Distributed event-triggered consensus algorithm for uncertain multi-agent systems

This paper studies distributed event-triggered consensus in multi-agent systems with uncertainties and limited communication. Event-triggering has each agent broadcast its state information to its neighbors when some local event occurs. First, we derive local real-time constraints, which guarantee stability of the closed-loop system in the absence of uncertainties. Based on these constraints, an event-triggering scheme is presented. Next, we apply the L ₁ adaptive control architecture locally for each subsystem to compensate for the effect of uncertainties. It ensures that each subsystem is following the desired output generated by the consensus algorithm. Simulation results show that the proposed event-triggering scheme can largely reduce the communication frequency without loss of consensus, and the L ₁ adaptive controller can attenuate the effect of uncertainties on the closed-loop dynamics.