Event-triggered consensus control of heterogeneous multi-agent systems: model- and data-based approaches

This article addresses the model- and data-based event-triggered consensus of heterogeneous leader/follower multi-agent systems (MASs). A dynamic periodic transmission protocol is developed to alleviate the communication and computational burden, where the followers can interact locally with neighbors to approach the dynamics of the leader. Capitalizing on a discrete-time looped-functional, a model-based consensus condition for the closed-loop MASs is derived as linear matrix inequalities (LMIs), along with a design method for obtaining distributed event-triggered controllers and the associated triggering parameters. Upon collecting noise-corrupted state-input measurements in offline open-loop experiments, a data-based leader/follower MAS representation is derived and employed to address the data-driven consensus control problem without explicit MAS models. This result is subsequently generalized to guarantee an ℋ_∞ control performance. Finally, a simulation example is given to corroborate the efficiency of the proposed distributed triggering scheme and the data-driven consensus controller.