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Fully Distributed Adaptive Event-Triggered Leaderless Consensus Protocol for Physically Interconnected Multi-agent Systems

In this study, the leaderless consensus issue is considered for general linear multi-agent systems with physically interconnected network under an undirected connected graph. Based on the local states information feedback, a novel fully distributed controller that uses adaptive event-triggered protocol is developed, which can ensure that every agent achieve consensus without requiring continuous communication and global network information. Meanwhile, it is proved that the Zeno behavior isn’t exhibited by demonstrating the lower-bound of minimum inter-event interval is strictly positive under the proposed control protocol. Compared to the existing related papers, the salient feature of this paper is that both physically interconnected network and communication interconnected network of the multi-agent systems are considered on the premise that the designed event-triggered consensus protocol are fully distributed, asynchronous. Therefore, this makes the systems are more comprehensive and practical. Finally, the performance and effectiveness of the protocol are displayed by a example.