Event-Triggered Mean-Square Consensus Control for Time-Varying Stochastic Multi-Agent System with Sensor Saturations

Lifeng Ma, Zidong Wang, Hak Keung Lam

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184 Citations (Scopus)
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In this technical note, the consensus control problem is investigated for a class of discrete time-varying stochastic multi-agent system subject to sensor saturations. An event-based mechanism is adopted where each agent updates the control input signal only when the pre-specified triggering condition is violated. To reflect the time-varying manner and characterize the transient consensus behavior, a new index for mean-square consensus is put forward to quantify the deviation level from individual agent to the average value of all agents' states. For a fixed network topology, the aim of the proposed problem is to design time-varying output-feedback controllers such that, at each time step, the mean-square consensus index of the closed-loop multi-agent system satisfies the pre-specified upper bound constraints subject to certain triggering mechanism. Both the existence conditions and the explicit expression of the desired controllers are established by resorting to the solutions to a set of recursive matrix inequalities. An illustrative simulation example is utilized to demonstrate the usefulness of the proposed algorithms.

Original languageEnglish
Article number7579601
Pages (from-to)3524-3531
Number of pages8
JournalIEEE Transactions on Automatic Control
Issue number7
Early online date29 Sept 2016
Publication statusPublished - 1 Jul 2017


  • Event-triggered control
  • mean-square consensus
  • multi-agent systems
  • sensor saturations
  • time-varying systems


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