Event-based Consensus of Double-integral Heterogeneous Hybrid Multi-agent Systems With Communication Delays

This paper investigates the issue of event-based consensus for double-integral heterogeneous hybrid multi-agent systems with communication delays under directed graphs. The system contains continuous-time and discrete-time subsystems, both of which are heterogeneous systems, including single-integral and double-integral agents. To achieve consensus among agents with different dynamics, two distributed event-based control algorithms are designed. Combined with the sampled-data approach, efficient event-triggered functions based on hybrid measurements are designed. Then, sufficient conditions of control parameters, sampling interval and coupling gains are proposed. By applying non-negative matrix theory, graph theory and other mathematical methods, consensus of fixed topology and switching topologies are proved with the assumption that the directed graph has a spanning tree. A simulation example finally confirms the effectiveness of the event-triggered protocols.