Edge-based time-dynamic event triggered consensus control for multi-agent systems with disconnected switching topologies

Abstract

The consensus problem of multi-agent systems under switching topologies with both connected and unconnected communication subgraphs is investigated in this study. To save resources and avoid the utilization of the global coordinate frame, an edge-based time-dynamic event triggered mechanism is developed to regulate the transmission of relative information for each edge in the network, where the time triggered mechanism is to ensure an explicit lower bound of triggering sequences and the dynamic event-triggered mechanism to enlarge the average time interval of triggering sequences. It is demonstrated that, under the planned distributed algorithm, the consensus could be reached exponentially if the ratio of the total activation time of connected subgraphs to that of unconnected subgraphs satisfies a given condition. Furthermore, under commonly verifiable assumptions, the procedure is presented to choose parameters and the existence of solutions to these parameters is also strictly proved. Finally, simulations are conducted to verify the proposed algorithm.