Decentralized event-triggered control for leader-follower consensus

Teng-Hu Cheng, Zhen Kan, John M. Shea, Warren E. Dixon

Research output: Contribution to journalConference article

21 Scopus citations


A decentralized event-triggered control scheme for leader-follower consensus is developed. The approach aims to reduce inter-agent communication while ensuring asymptotic leader-follower consensus. The objective is achieved by designing a control algorithm that uses the estimates of neighbors' states for feedback and only updates the estimates through communication when events are triggered. The update events are determined by a decentralized trigger condition, designed from the stability analysis, such that the control ensures asymptotic leader-follower consensus with only intermittent communication. The effectiveness of reducing inter-agent communication is shown by developing a positive constant lower bound of the minimum inter-event interval. Since switched dynamics are considered, Zeno execution is proven to be avoided, and Lyapunov-based convergence analysis is provided to ensure the asymptotic leader-follower consensus. Simulation results are provided to demonstrate the effectiveness of the developed control strategy.

Original languageEnglish
Article number7039552
Pages (from-to)1244-1249
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Issue numberFebruary
StatePublished - 1 Jan 2014
Event2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States
Duration: 15 Dec 201417 Dec 2014

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