Event-triggered for Rotating Consensus with Double-Integrator Multi-Agent Systems

This paper investigates the rotating consensus problem for a class of double-integrator multi-agent systems, where the communication networks are directed. Firstly, for convenience, we transform the original rotating consensus problem in complex field to real field by a rotation matrix. Secondly, an event-triggered mechanism with the ability to predict the system state based on known triggered state is introduced, without requiring continuous communication among agents. Thirdly, based on the rotating consensus problem and the proposed event-triggered mechanism, a distributed control protocol is developed, in which the rotating consensus will be reached with an exponential convergence rate. Then, it is shown that, with the proposed event-triggering mechanism, a strictly positive lower bound between any two consecutive triggering instants can be guaranteed, that is, Zeno-freeness can be guaranteed. Finally, the simulation example is provided to illustrate the effectiveness of the proposed control protocol. Copyright (C) 2020 The Authors.