Optimal Consensus Control for Continuous-Time Linear Multiagent Systems: A Dynamic Event-Triggered Approach.

Abstract

This article investigates the optimal consensus problem for general linear multiagent systems (MASs) via a dynamic event-triggered approach. First, a modified interaction-related cost function is proposed. Second, a dynamic event-triggered approach is developed by constructing a new distributed dynamic triggering function and a new distributed event-triggered consensus protocol. Consequently, the modified interaction-related cost function can be minimized by applying the distributed control laws, which overcomes the difficulty in the optimal consensus problem that seeking the interaction-related cost function needs all agents' information. Then, some sufficient conditions are obtained to guarantee optimality. It is shown that the developed optimal consensus gain matrices are only related to the designed triggering parameters and the desirable modified interaction-related cost function, relaxing the constraint that the controller design requires the knowledge of system dynamics, initial states, and network scale. Meanwhile, the tradeoff between optimal consensus performance and event-triggered behavior is also considered. Finally, a simulation example is provided to verify the validity of the designed distributed event-triggered optimal controller.