Event-Triggered Consensus of Multi-agent Systems with Adjustable Threshold Parameters

In this paper, a time-varying adjustable parameter is applied to the threshold function of the state error for each agent and the parameter is adjusted with the ratio of state-error to the error threshold which is more suitable in the whole process of the change of state error. The parameter's trend can be adjusted to meet different control needs thus the trigger frequency can be adjusted correspondingly. Under the case discussed in the paper, an increasing threshold parameter is designed to decrease trigger frequency while consensus can still be guaranteed. Lyapunov theory is used to analyze the asymptotical stability and to obtain the appropriate event condition for each agent. The validity of the method is illustrated with simulation.