second-order multi-agent systems with event-trigger

This paper addresses the quantized consensus problem of second-order multi-agent systems (MASs) by means of a distributed event-trigger control with sampled data, where the number of agents can be enough large and the interconnection topology has a directed spanning tree. An effective event-trigger control protocol (ETCP) is proposed with a novel threshold dependent both on state and time, which is superior to the existing works in reducing the unnecessary event triggers, data transmissions, and controller updates. Meanwhile the data is allowed to be sampled periodically and the sampled data is able to be quantified before transmission, so fewer computing resource and less transmission cost are required. In addition, a self-trigger scheme is utilized to avoid that the data must be sampled at each sampling instant. Moreover, a sufficient condition on the control gains and the sampling period is derived to guarantee that the consensus in seconde-order MASs can be reached by the proposed ETCP.