Improved Dynamic Event-Triggered Consensus Control for Multi-Agent Systems with Designable Inter-Event Time*

This paper considers the leader-following consensus control for linear multi-agent systems. Two improved dynamic event-triggered control frameworks are proposed. The first one is based on a moving average approach, whereas the second is a fully-distributed control scheme based on a well-chosen Lyapunov function with rigorous proof of adjustable inter-event time. 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.