This paper investigates the consensus problem of disturbed second-order nonlinear multi- agent systems (MASs) under directed topology. A reset event-triggered control (RETC) is proposed that combines the reset mechanism with dynamic event-triggered control (ETC) strategies. The introduction of RETC overcomes the limitation of the traditional ETC that frequently triggers when approaching the consensus position. The external dynamic variables in the trigger conditions can be adjusted according to the predefined reset conditions. When the local state deviation reaches the preset threshold, the dynamic variable is reset to the initial value, greatly reducing the frequency of event triggering, and the strategies are fully distributed. The parameters and reset threshold depend only on the local state of the agents, without global information. The paper applies the Lyapunov stability theory to conduct a rigorous theoretical analysis of control strategies and verifies its effectiveness in improving transient consensus and reducing communication burden through simulations.
1. Amirkhani, A. and Barshooi, A. H. Consensus in multi-agent systems: a review. Artificial Intelligence Review, 2022, 55(5), 3897–3935.
https://doi.org/10.1007/s10462-021-10097-x
2. Chen, X., Sun, Q., Yu, H. and Hao, F. Predefined-time practical consensus for multi-agent systems via event-triggered control. Journal of the Franklin Institute, 2023, 360(3), 2116–2132.
https://doi.org/10.1016/j.jfranklin.2023.01.001
3. Chen, X., Yu, H. and Hao, F. Prescribed-time event-triggered bipartite consensus of multiagent systems. IEEE Transactions on Cybernetics, 2022, 52(4), 2589–2598.
https://doi.org/10.1109/TCYB.2020.3004572
4. Deng, C., Wen, C., Huang, J., Zhang, X.-M. and Zou, Y. Distributed observer-based cooperative control approach for uncertain nonlinear MASs under event-triggered communication. IEEE Transactions on Automatic Control, 2022,67(5), 2669–2676.
https://doi.org/10.1109/TAC.2021.3090739
5. Ding, L., Han, Q.-L., Ge, X. and Zhang, X.-M. An overview of recent advances in event-triggered consensus of multiagent systems. IEEE Transactions on Cybernetics, 2018, 48(4), 1110‒1123.
https://doi.org/10.1109/TCYB.2017.2771560
6. Ding, L., Han, Q.-L. and Zhang, X.-M. Distributed secondary control for active power sharing and frequency regulation in islanded microgrids using an event-triggered communication mechanism. IEEE Transactions on Industrial Informatics, 2019, 15(7), 3910–3922.
https://doi.org/10.1109/TII.2018.2884494
7. El Moufid, M., Nadir, Y., Benhadou, S. and Medromi, H. An architecture of an interactive multimodal urban mobility system. International Journal for Simulation and Multidisciplinary Design Optimization, 2019, 10, A13.
https://doi.org/10.1051/smdo/2019015
8. Fu, J., Wen, G., Yu, W. And Ding, Z. Finite-time consensus for second-order multi-agent systems with input saturation. IEEE Transactions on Circuits and Systems II: Express Briefs, 2018, 65(11), 1758–1762.
https://doi.org/10.1109/TCSII.2017.2759193
9. Ge, X. and Han, Q.-L. Distributed formation control of networked multi-agent systems using a dynamic event-triggered communication mechanism. IEEE Transactions on Industrial Electronics, 2017, 64(10), 8118–8127.
https://doi.org/10.1109/TIE.2017.2701778
10. Ge, X., Han, Q.-L., Zhang, X.-M. and Ding, D. Dynamic event-triggered control and estimation: a survey. International Journal of Automation and Computing, 2021, 18(6), 857–886.
https://doi.org/10.1007/s11633-021-1306-z
11. Ge, X. and Han, Q.-L. Distributed formation control of networked multi-agent systems using a dynamic event-triggered communication mechanism. IEEE Transactions on Industrial Electronics, 64(10) 2017, 8118–8127.
https://doi.org/10.1109/TIE.2017.2701778
12. Griparic, K., Polic, M., Krizmancic, M. and Bogdan, S. Consensus-based distributed connectivity control in multi-agent systems. IEEE Transactions on Network Science and Engineering, 2022, 9(3), 1264–1281.
https://doi.org/10.1109/TNSE.2021.3139045
13. Hu, L., Wang, D. and Qiao, J. Static/dynamic event-triggered learning control for constrained nonlinear systems. Nonlinear Dynamics, 2024, 112(16), 14159–14174.
https://doi.org/10.1007/s11071-024-09778-3
14. Iqbal, M., Kolios, P. and Polycarpou, M. M. Finite- and fixed-time consensus protocols for multi-agent systems with time-varying topologies. IEEE Control Systems Letters, 2022, 6, 1568–1573.
https://doi.org/10.1109/LCSYS.2021.3124938
15. Li, X., Liu, J.-C. and Li, X.-G. Consensus of first-order discrete-time multi-agent systems with time delays. Journal of the Franklin Institute, 2019, 356(10), 5315–5331.
https://doi.org/10.1016/j.jfranklin.2018.11.052
16. Liang, W., Niu, X., Lan, Y. and Fang, W. Event-triggered consensus of second-order time-delayed nonlinear multi-agent systems. Journal of Systems Science and Mathematical Sciences, 2024, 44(07), 1841–1852.
https://doi.org/10.12341/jssms23448
17. Liu, J., Shi, J., Wu, Y., Wang, X., Sun, J. and Sun, C. Event-based predefined-time second-order practical consensus with application to connected automated vehicles. IEEE Transactions on Intelligent Vehicles, 2023, 8(11), 4524–4535.
https://doi.org/10.1109/TIV.2023.3306802
18. Liu, T., Sheng, A., Qi, G. and Li, Y. Leader-following consensus of singular nonlinear multi-agent systems with unknown external disturbances. In 40th Chinese Control Conference (CCC), Shanghai, China, 26‒28 July 2021. IEEE, 2021, 5217–5221.
https://doi.org/10.23919/CCC52363.2021.9550732
19. Lizzio, F. F., Capello, E. and Guglieri, G. A review of consensus-based multi-agent UAV implementations. Journal of Intelligent & Robotic Systems, 2022, 106(2), 43.
https://doi.org/10.1007/s10846-022-01743-9
20. Mahela, O. P., Khosravy, M., Gupta, N., Khan, B., Alhelou, H. H. and Mahla, R. Comprehensive overview of multi-agent systems for controlling smart grids. CSEE Journal of Power and Energy Systems, 2022, 8(1), 115–131.
21. Qin, J., Ma, Q., Shi, Y. and Wang, L. Recent advances in consensus of multi-agent systems: a brief survey. IEEE Transactions on Industrial Electronics, 2017, 64(6), 4972–4983.
https://doi.org/10.1109/TIE.2016.2636810
22. Ruan, X., Feng, J., Xu, C. and Wang, J. Observer-based dynamic event-triggered strategies for leader-following consensus of multi-agent systems with disturbances. IEEE Transactions on Network Science and Engineering, 2020, 7(4), 3148–3158.
https://doi.org/10.1109/TNSE.2020.3017493
23. Vecliuc, D.-D. Brief survey on collaborative and non-collaborative behaviors in multi-agent systems. Bulletin of the Polytechnic Institute of Iași. Electrical Engineering, Power Engineering, Electronics Section, 2023, 69(4), 31–43.
https://doi.org/10.2478/bipie-2023-0020
24. Wang, L. and Dong, J. Reset event-triggered adaptive fuzzy consensus for nonlinear fractional-order multiagent systems with actuator faults. IEEE Transactions on Cybernetics, 2023, 53(3), 1868–1879.
https://doi.org/10.1109/TCYB.2022.3163528
25. Xiao-Tong, S., Ge, G. and Peng-Fei, Z. Fixed-time consensus tracking of multi-agent systems under unmatched disturbances. Acta Automatica Sinica, 2020, 12(9), 1–9 (in Chinese).
https://doi.org/10.16383/j.aas.c190339
26. Zhao, G., Hua, C. and Guan, X. Reset control for consensus of multiagent systems with event-triggered communication. IEEE Transactions on Cybernetics, 2021, 51(11), 5387–5396.
https://doi.org/10.1109/TCYB.2019.2956491
27. Zhao, G., Hua, C. and Guan, X. Reset observer-based zeno-free dynamic event-triggered control approach to consensus of multiagent systems with disturbances. IEEE Transactions on Cybernetics, 2022, 52(4), 2329–2339.
https://doi.org/10.1109/TCYB.2020.3003330
28. Zhu, Z., Du, Q., Wang, Z. and Li, G. A survey of multi-agent cross domain cooperative perception. Electronics, 2022, 11(7), 1091.
https://doi.org/10.3390/electronics11071091
