Research on Consensus State of Multi-agent System with Event-triggered Controller

This paper studies on the problem of consensus state for the event-triggered multi-agent system. Firstly, the method of analyzing consensus state of a simple linear multi-agent system with undirected topology is introduced. Then, such method is applied into a general linear system with directed graph. It is found that the consensus state is a constant vector or a periodic varying vector. Such difference depends on the system matrix, the topology as well as the triggering function. Simulations are performed to verify these relations.