Distributed Event-Triggered Consensus Control of Neutrally Stable Linear Multi-agent Systems

This paper considers the distributed event-triggered consensus control problem of neutrally stable linear multi-agent systems. We design distributed event-triggered protocols, consisting of consensus control laws and triggering functions, under which consensus is achieved and the Zeno behavior can be excluded. Compared to the previous related works, our main contribution is that the proposed protocols are fully distributed and scalable, whose design does not rely on any global information of the network graph. Meanwhile, continuous communications are not required for either control laws updating or triggering functions monitoring so as to reduce the communication frequency.