Event- Triggered Consensus of Multi-Agent Systems on Strongly Connected Graphs

This paper studies consensus control of linear multi-agent systems (MASs) over directed graphs. The communication topology is assumed to be strongly connected. A distributed event-triggered state-feedback protocol is proposed for achieving consensus, which monitors the relative state information between neighboring agents and triggers a sampling event when some state-related inequalities are violated. An existence condition for the protocol is derived, which needs to solve an algebraic Riccati equation and find some scalar parameters related to the graph Laplacian. It is proved that the protocol excludes both singular triggering behavior and Zeno behavior if some scalars are properly assigned. Compared with the existing results, the proposed method can deal with general linear MASs on strongly connected graphs but does not require the absolute state information of agents. The effectiveness of the proposed method is illustrated by a numerical example.