Fully Distributed Event-Triggered Semiglobal Consensus of Multi-agent Systems With Input Saturation

Abstract

In this paper, the event-triggered semiglobal consensus problem is investigated for general linear multi-agent systems subjected to input saturation, by utilizing the algebraic Riccati equation-based low-gain feedback technique. Two scenarios for systems with or without updating delays are considered, and fully distributed event-triggered control schemes are proposed to guarantee the semiglobal consensus of the connected systems, in which each agent is asymptotically null controllable with bounded controls. Strictly positive lower bounds for both the sampling intervals and the updating delays are captured for each agent to eliminate the Zeno behaviors in these two event-triggered processes. Finally, the effectiveness of these event-triggered control schemes are verified by simulations.