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A novel adaptive event-triggered consensus protocol on directed graphs
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DOI：10.1016/j.automatica.2026.113028.png)
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Abstract
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This paper investigates adaptive event-triggered consensus problem of multi-agent systems over general directed networks with discrete-time communication. Firstly, a novel adaptive consensus protocol with event-triggered communication is proposed. Then, the proposed event-triggered mechanism is designed to exclude Zeno behavior theoretically. At the end of this paper, simulation and comparison results are given to show the effectiveness and advantages of the proposed consensus protocol. Compared with existing related results over directed networks, our main contributions are given as follows. Firstly, the coupling gain of the proposed consensus protocol just contain an adaptive parameter without added to its adaptive law, adopting the same form as node-based adaptive consensus protocol over undirected networks. Moreover, an innovative Lyapunov function is constructed to analyze the convergence of the proposed adaptive consensus protocol. On the other hand, the simplified coupling gain enables the design of a new event-triggered mechanism with a single triggering condition, under which the triggering intervals can theoretically keep a uniformly strictly positive lower bound despite time tending to infinity.
Keywords:
adaptive consensus
event-triggered mechanism
multi-agent systems
directed networks
Lyapunov function
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5.9
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