Dynamic Event-Triggered Consensus Control of Multiagent Systems Under Markov Switching Topology

Abstract

This paper studies the dynamic event-triggered consensus problem of multiagent systems (MASs) under Markov switching topology, where a new distributed dynamic event-triggered mechanism (DETM) is proposed and the Zeno behavior is eliminated. It adds an exponential function and anti-cotangent function which increases the threshold of the system error and slows down the attenuation rate of the dynamic variable. So the proposed DETM further effectively reduces the triggering times. In addition, considering the variability of the topology of MASs in practical applications, the DETM is applied to multiagent network with Markov switching topology. A new Lyapunov function is constructed to prove the stability of the MAS. Then the matrix equation and other conditions are used to ensure that the MAS can reach the mean square consensus. Finally, the effectiveness of the proposed strategy is verified through the simulations on a theory system and multi aircrafts system. Note to Practitioners—In the practical application of MASs, the communication topology which connects agents may be affected by external environments (such as external noise, system component failures, etc.), leading to changes of the topology structure. In other words, the topology structure of MASs may undergo jumps during operation, so the MASs with Markov switching topology considered in this paper is more practical. In the paper, the dynamic event-triggered consensus problem of MASs under Markov switching topology is considered, and it can be applied to some practical systems, e.g., multi aircrafts. Compared with the existing results, a new Lyapunov function is proposed for consensus analysis of MAS with Markov switching topology, and a novel DETM is proposed, which is more easier to be implemented.