Consensus of Linear Multiagent Systems with Input-Based Triggering Condition

Yong Xu, Zheng Guang Wu, Ya Jun Pan, Choon Ki Ahn, Huaicheng Yan

Research output: Contribution to journalArticlepeer-review

45 Citations (Scopus)


This paper considers the consensus problem of multiagent systems with the input-based triggering condition. A model-based approach is first given to estimate the relative interagent states between intermittent communications instead of absolute states. A novel consensus protocol consisting of the relative interagent states is proposed for the consensus problem. Besides, compared with some results on the triggering condition consisting of state measurement error, a new triggering condition is constructed based on the control input. Then, the consensus protocol is executed by every agent in a fully distributed way, which has the advantage that the controller design is related to the number of agents instead of using global information. Moreover, the bounds of parameters of the controller and the triggering condition can be obtained by the proposed algorithm simultaneously, which depends on the total number of agents in multiagent networks. The proposed control scheme can ensure that states of all agents can achieve consensus. It is shown that 'Zeno behavior' does not appear under the proposed algorithm. Finally, an illustrative example is given to verify the proposed method.

Original languageEnglish
Article number8419287
Pages (from-to)2308-2317
Number of pages10
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Issue number11
Publication statusPublished - 2019 Nov

Bibliographical note

Publisher Copyright:
© 2018 IEEE.


  • Consensus
  • event-triggered control (ETC)
  • multiagent systems (MASs)

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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