Self-Triggered Consensus Control of Multi-Agent Systems From Data

This paper considers self-triggered consensus control of unknown linear multi-agent systems (MASs). Self-triggering mechanisms (STMs) are widely used in MASs, thanks to their advantages in avoiding continuous monitoring and saving computing and communication resources. However, existing results require the knowledge of system matrices, which are difficult to obtain in real-world settings. To address this challenge, we present a data-driven approach to designing STMs for unknown MASs building upon the model-based solutions. Our approach leverages a system lifting method, which allows us to derive a data-driven representation for the MAS. Subsequently, a data-driven self-triggered consensus control (STC) scheme is designed, which combines a data-driven STM with a state feedback control law. We establish a data-based stability criterion for asymptotic consensus of the closed-loop MAS in terms of linear matrix inequalities, whose solution provides a matrix for the STM as well as a stabilizing controller gain. Numerical tests are conducted to validate the correctness of the proposed data-driven STC.