Distributed Optimal Coordination for Heterogeneous Linear Multi-Agent Systems with Event-Triggered Mechanisms

This note considers the distributed optimal coordination (DOC) problem for heterogeneous linear multi-agent systems. The local gradients are locally Lipschitz and the local convexity constants are unknown. A control law is proposed to drive the states of all agents to the optimal coordination which minimizes a global objective function. By exploring certain features of the invariant projection of the Laplacian matrix, the global asymptotic convergence is guaranteed utilizing only local interaction. The proposed control law is then extended with eventtriggered communication schemes, which removes the requirement for continuous communications. Under the event-triggered control law, it is proved that no Zeno behaviour is exhibited and the global asymptotic convergence is preserved. The proposed control laws are fully distributed, in the sense that the control design only uses the information in the connected neighbourhood. Furthermore, to achieve the DOC for linear multi-agent systems with unmeasurable states, an observer-based eventtriggered control law is proposed. A simulation example is given to validate the proposed control laws.