Distributed event-triggered consensus control for general linear multi-agent systems under directed graph

This paper considers the distributed event-triggered consensus problem for multi-agent systems with general linear dynamics under a directed graph. We propose a novel distributed event-triggered consensus controller with state-dependent threshold for each agent to achieve consensus, without continuous communication in either controller update or triggering condition monitoring. Each agent only needs to monitor its own state continuously to determine if the event is triggered. Additionally, the approach shown here provides consensus with guaranteed positive inter-event time intervals. Therefore, there is no Zeno behavior under the proposed consensus control algorithm. Finally, numerical simulations are given to illustrate the theoretical results.