Periodic event-triggered consensus with single-integrator dynamics

Periodic event-triggered control for the consensus problem of multi-agent systems is investigated in this paper. Triggering conditions are discussed in two cases: 1) with communication between neighbors at each verification time, 2) with communication at triggering times. Based on Lyapunov theory and algebraic graph theory, consensus conditions on the verification period and triggering condition parameters are derived in both cases. It is proved that the maximum verification period in the first case is two times larger than the results in the literature. Moreover, the amount of communication between neighbors can be reduced in the second case. Finally, simulations are shown to illustrate the efficiency of the proposed theoretical results.