Coordination for Lur’e Multiagent Systems: Fully Distributed Event-Driven Approach With Single-Event Monitoring Condition

This brief studies the event-driven consensus problem for Lur’e multi-agent systems (MASs) under directed leader-follower networks. The proposed algorithm does not contain global information, and each agent only communicates with neighboring agents; thus, it can work in a fully distributed manner. Under directed graphs, existing fully distributed consensus algorithms rely on multiple event detection mechanisms. The proposed algorithm contains only one event-driven condition for each agent and thus has lower device cost and complexity. Finally, the simulation verifies the effectiveness of theoretical results.