Dynamic event-triggered control for multi-agent systems with adjustable inter-event time: a moving average approach

This extended abstract presents our recent work on the leader-following consensus control for generic linear multi-agent systems. An improved dynamic event-triggered control framework are proposed, based on a moving average approach. The proposed methods involve model-based estimation and clock-like auxiliary dynamic variables to increase the inter-event time as long as possible eventually. Compared to the static event-triggered strategy and the existing state-of-the-art dynamic event-triggered mechanism, the proposed approach significantly reduces the communication frequency while still guaranteeing asymptotic convergence. Numerical simulations demonstrate the validity of the proposed theoretical results.