Event-Triggered Cluster Consensus of Leader-Following Linear Multi-Agent Systems

Bin Xu 1  and Wangli He 1
  • 1 School of Information Science and Engineering, East China University of Science and Technology, NO.130, Meilong Road, , Shanghai , China


This paper is concerned with cluster consensus of linear multi-agent systems via a distributed event-triggered control scheme. Assume that agents can be split into several clusters and a leader is associated with each cluster. Sufficient conditions are derived to guarantee the realization of cluster consensus by a feasible event-triggered controller if the network topology of each cluster has a directed spanning tree and the couplings within each cluster are sufficiently strong. Further, positive inner-event time intervals are ensured for the proposed event-triggered strategy to avoid Zeno behaviors. Finally, a numerical example is given to illustrate the effectiveness of the theoretical results.

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