Event-triggered consensus of discrete-time double-integrator multi-agent systems with asymmetric input saturation

This paper addresses the event-triggered global consensus issue of discrete-time double-integrator multi-agent systems (MASs) with asymmetric input saturation, where the saturation bound could be zero. First, for the leaderless scenario, we develop an event-triggered scheme and present the necessary and sufficient criterion for global consensus. Second, the above result is extended to the leader-following scenario, and global consensus is still ensured. It is worth emphasizing that a basic idea of the proposed event-triggered scheme is to preset a minimum triggering interval, so that the triggering function is inactive within this interval after the last triggering time. Such a treatment can ensure that the minimum time between two update instances can be strictly greater than one. Finally, several simulations are given to illustrate the effectiveness of suggested theoretical findings.