Event-triggered control for multi-agent systems

Event-driven strategies for multi-agent systems are motivated by the future use of embedded microprocessors with limited resources that will gather information and actuate the individual agent controller updates. The control actuation updates considered in this paper are event-driven, depending on the ratio of a certain measurement error with respect to the norm of a function of the state, and are applied to a first order agreement problem. A centralized formulation of the problem is considered first and then the results are extended to the decentralized counterpart, in which agents require knowledge only of the states of their neighbors for the controller implementation.