Consensus of first-order Multi-Agent Systems under Event-Triggered Communication

A distributed event-triggered control scheme for first-order discrete-time multi-agent systems over fixed directed network is designed, in order to save energy resources and network bandwidth by reducing communication between agents. Each agent only communicates with its neighboring agents at some specific conditions which are called triggering time instants. The control protocol is designed to achieve the consensus of multi-agent systems, and then the convergence of the algorithm is proved by the Lyapunov method if the network has a spanning tree. Based on the analysis, there is a simulation example at last to demonstrate the effectiveness of the theoretical control protocol.