Observer-based distributed dynamic event-triggered control of multi-agent systems with adjustable interevent time

In this paper, a novel dynamic event-triggered control protocol for leader-following problems of generic linear multi-agent systems is proposed. Compared with the existing static event-triggered strategy, the developed event-triggered approach significantly reduces the utilization of communication resources while guaranteeing asymptotic consensus, and the interevent time is adjustable. Under this event scheduling mechanism, a synthesis approach combining controller and observer design is presented. The observer-based control and event-triggered rules are distributed, which only require local information of each agent to implement. The proposed methods incorporate model-based estimation and auxiliary dynamic variables with a clock-like behavior to prolong the interevent time as long as possible. The sufficient conditions for leader-following consensus are established using linear matrix inequalities (LMIs) formulation to facilitate numerical computation. Comparative simulations in different scenarios demonstrate the validity of the proposed theoretical results.