Layered event-triggered control for group consensus with both competition and cooperation interconnections

Abstract In this paper, the problem of group consensus of multi-agent systems that exchange information through two-layer directed communication network is investigated. Both competition and cooperation interconnections are considered, which is more in line with the reality. Based on layered event-triggered control strategy, agents only update control input and broadcast information to their neighborhood in discrete time instants according to the designed triggering conditions. Since the triggering conditions within two layers are different, the whole consensus process is asynchronous. We prove that the agents can achieve group consensus with the proposed control protocol and there is no Zeno behavior by choosing appropriate parameters.

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