Fully distributed Consensus of Multi-Agent Systems Based on Event-Driven Control Policy

This study focuses on the fully distributed consensus problem of heterogeneous linear multi-agent systems with asynchronous edge-based event-driven control scheme. First, a new-type of event-triggered control mechanism was designed, and under this triggering condition, a compensator of fully distributed event driven is present to observe the leader’s state. Then, for the unmeasurable state variables, a state observer is designed. Finally, a distributed controller is put forward to handle the output consensus problem, and Zeno phenomenon on each edge is eliminated theoretically. At last, the availability of the main theoretical results is verified by a numerical example.