Input-observer event-based consensus in linear multi-agent systems

This paper provides an input-observer event-based controller to solve consensus problems in multi-agent systems with general linear dynamics over fixed directed and undirected network topologies. A Lyapunov-based event condition is proposed to achieve consensus using neighbors' output information. The proposed method is distributed in the sense that the event detectors only use neighbors' information, and the controller updates its value by using intermittent communication. Finally, an example is provided to illustrate the effectiveness of theoretical results.