Fully Distributed Event-Triggered Consensus of Double-Integrator Multi-Agent Systems

In this paper, the consensus problem is studied for double-integrator multi-agent systems with edge-based event- triggered communication. More specifically, two agents connected by an edge mutually sample the relative state information when a designed triggering condition is satisfied. The triggering mechanism is introduced to reduce the communication frequency. To make the triggering mechanism implementable, a positive minimum inter-event time is guaranteed in all communication links in the network. All designs use only local neighborhood information. Based on Lyapunov analysis, the proposed algorithm makes all the agents converge to a consensus trajectory asymptotically.