Event-based Semi-global Consensus of Discrete-time Multi-agent Systems via Low-gain Control

This paper investigates the problem of event-based consensus of discretetime multi-agent systems with general linear dynamics subject to actuator saturation. Leader-following and leaderless semi-global consensus are achieved by a distributed event-trigger strategy for the multi-agent systems. In spite of the input saturation constraint, it is shown that feedback control updating is unnecessary until an event is triggered. The combinational-state variables and the Riccati equation are used to construct a Lyapunov function and to design the event-triggering conditions and the low-gain control laws. Numerical examples are provided to illustrate the theoretical results.