Distributed event-triggered consensus control with fully continuous communication free 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. In this strategy, continuous communication in both controller update and triggering condition monitoring is not required, which means the proposed strategy is fully continuous communication free. 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.