Event-triggered Tracking Control for Second-order Multi-agent Systems with Fixed and Switching Topologies

This paper mainly investigates event-triggered tracking control problem for second-order discrete-time multi-agent systems with directed fixed and switching topologies. Event-triggered sampling control strategies are designed to reduce the frequency of actuator updating for agents with limited energies when their measurement error exceeds a threshold. For the case of fixed topology, a necessary and sufficient condition is proposed based on Hurwitz stability theory to solve the tracking control bounded consensus problem under the assumption that the topology has a directed spanning tree rooted at the leader. For the case of switching topologies, a sufficient condition on asymptotic stability of the multi-agent system is presented by constructing a Lyapunov function under the assumption that each possible topology contains a directed spanning tree. Finally, numeral examples are given to illustrate the effectiveness of these results.