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Consensus of Multi-agent Networks with Discrete Communication via Event-Triggered Control

Based on the event-triggered control method, the consensus of multi-agent networks containing a leaders' layer and a followers' layer with the same fixed topology is studied. In order to save the communication energy, this paper uses discrete communication between adjacent nodes. A suitable event triggering control scheme is proposed to realize the consensus of multi-agent networks. Furthermore, by utilizing the graph theory and Lyapunov stability theory, this paper presents the sufficient conditions for consensus of networks. Finally, a numerical simulation is provided to demonstrate the effectiveness of the theoretical analysis. Simulation shows that the network can realize consensus under given conditions, and the event-triggered interval is greater than the communication interval, which implies that the proposed control scheme can reduce the number of controller updates and save communication resources.