Self-triggered Consensus for Second-order Leaderless Multi-agent Systems

In this paper, a self-triggered consensus strategy is provided for second-order multi-agent systems. A new event function and Lyapunov function are constructed for event-triggered control protocol. It is proved that the system achieves consensus under the proposed protocol. Then, zeno-behavior is excluded by detailed analysis. Based on event-triggered case, a self-triggered strategy is built. The strategy not only forms the discrete aperiodic control scheme, but also avoids designing observers for each agent contrast to conventional protocol. Simulation examples are given to demonstrate the feasibility of the proposed self-triggered algorithm.