Hybrid Adaptive Event-Triggered Consensus Control with Intermittent Communication and Control Updating

This paper studies the distributed consensus control for linear multi-agent systems under discontinuous communication and control updating. A fully distributed event-triggered adaptive control protocol with strictly positive minimum interevent time (MIET) guarantees is proposed. First, an event-triggered distributed adaptive control law without using prior global information of network topologies is presented, which achieves asymptotic consensus via discrete control updating and intermittent communication. Then, a hybrid adaptive event-triggering scheme with an internal timer is designed that is activated only when the timer decreases to zero from a specified positive value. Under the proposed triggering scheme, not only Zeno behavior is excluded but also a strictly positive MIET between any two consecutive events is guaranteed, which facilitates the physical implementation. In contrast to the existing related results, the proposed fully distributed protocol only needs low-frequency communication and control updating, while ensuring the strictly positive MIET property. Finally, a simulation example is given to illustrate the effectiveness of the theoretical results.