Fully Distributed Dynamic Event-Triggered Consensus of Heterogeneous Multiagent Systems With Applications to Voltage Control

This article investigates a heterogeneous multiagent system composed of first-order agents and second-order agents. Control strategies for achieving average consensus and bipartite consensus are proposed, along with the design of a fully distributed dynamic event-triggered control algorithm. Under the proposed event-triggered mechanism, agent updates the control input and exchanges information with neighboring agents solely when its own triggering times arrive, requiring only local information without relying on global system knowledge or the real-time states of neighboring agents. It is rigorously proven that “Zeno behavior” is excluded. Simulation results are given to demonstrate that the proposed control protocols are effective and feasible.