Event-Triggered Optimal Consensus of Heterogeneous Nonlinear Multi-Agent Systems

This paper deals with optimal consensus problems of a general heterogeneous nonlinear multi-agent system. A novel filter is proposed for each agent by integrating local gradients with neighboring output information. Using this filter and introducing an appropriate auxiliary variable, the event-triggered control algorithm is obtained within the framework of the prescribed performance control. One of the remarkable properties of the proposed algorithm is that it can save resources by updating control signals only when necessary rather than periodically while achieving optimal consensus. Theoretical and simulation verifications of the algorithm without the Zeno behavior are carefully studied. Instructions are also presented for control parameter selection to keep the residual errors as small as desired.