Title: Multi-Objective Event-triggered Consensus of Linear Multi-agent Systems,
Abstract: This paper proposes a distributed consensus algorithm for linear event-based
heterogeneous multi-agent systems (MAS). The proposed scheme is event-triggered
in the sense that an agent selectively transmits its information within its
local neighbourhood based on a directed network topology under the fulfillment
of certain conditions. Using the Lyapunov stability theorem, the system
constraints and event-triggering condition are expressed in terms of several
linear matrix inequalities (LMIs) to derive the consensus parameters. The
objective is to design the transmission threshold and minimum-norm
heterogeneous control gains which collectively ensure an exponential consensus
convergence rate for the closed-loop systems. The LMI computed control gains
are robust to uncertainty with some deviation from their nominal values
allowed. The practicability of the proposed event-based framework is further
studied by proving the Zeno behaviour exclusion. Numerical simulations quantify
the advantages of our event-triggered consensus approach in second-order,
linear and heterogeneous multi-agent systems.