Distributed Resource Allocation of Second-Order Multi-agent Systems with Event-Triggered Communication

In this paper, a distributed resource allocation problem of second-order multi-agent systems under undirected and connected communication topologies is investigated. The global objective is to minimize a global cost function, which is formulated as the aggregate of individual local cost functions. In order to achieve the optimal allocation while eliminating persistent data exchange between agents, a novel distributed protocol with event-triggering mechanisms is developed by combining the PI control strategy and gradient flow dynamics. Furthermore, we provide a theoretical proof of the algorithm's convergence using Lyapunov stability analysis and demonstrate that Zeno behavior is excluded. Numerical simulations are included to verify the validity of the proposed approach.