Distributed event-triggered feedback consensus control with state-dependent threshold for general linear multi-agent systems

This paper considers the distributed event-triggered consensus problem for multi-agent systems with general linear dynamics under undirected graphs. Based on state feedback, 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. It is proved that there is no Zeno behavior under the proposed consensus control algorithm. To relax the requirement of the state measurement of each agent, we further propose a novel distributed observer-based event-triggered consensus controller to solve the consensus problem in the case with output feedback and prove that there is no Zeno behavior exhibited. Finally, simulation results are given to illustrate the theoretical results.