Event-triggered Design for Optimal Output Consensus of High-order Multi-agent Systems

Abstract

This paper studies the optimal output consensus problem for a group of heterogeneous linear multi-agent systems. Different from existing results, we aim at effective controllers for these high-order agents under both event-triggered control and event-triggered communication settings. We conduct an embedded design for the problem and constructively propose a multi-rate event-triggered controller with a set of applicable parameters. The proposed event-triggered rules are shown to be free of Zeno behaviors and can achieve the optimal output consensus goal for these high-order agents. A simulation example is given to verify the efficacy of our designs.