Adaptive coupling consensus of multi-agent systems with integral-based event-triggered mechanism

To solve the consensus of linear leaderless multi-agent systems, an adaptive coupling consensus integral-based event-triggered controller is discussed in this paper. Firstly, the dynamic equations of leaderless multi-agent systems are constructed, and consensus is transformed into the asymptotic convergence of closed-loop systems by model transformation. Then, a consensus integral-based event-triggered controller is designed. The event-triggered mechanism reduces the communication between neighbouring agents while also ensures system stability. The adaptive coupling gain is incorporated in the design of the consensus controller, which augments the self-regulation capability of the controller. In addition, stability of the system is proven through combining LMI and Lyapunov function, and Zeno phenomenon is ruled out. Finally, it is verified that there is a limit to the stable value of each adaptive coupling gain, proving that the integral-based event-triggered mechanism combines with adaptive coupling control is rational and effective.