Integral-Type Event-Triggered Average Consensus over Jointly Connected Topologies

In this paper, a class of distributed event-triggered (ET) control strategy is proposed to address the average consensus problem for multi-agent systems (MAS). Compared with the existing ET control methods with fixed connected communication links, underlying topology considered here is jointly connected, which is more adaptable to the needs of practicality. In order to save communication energy resources among agents, an improved integral-type event-triggered (ITET) strategy is chosen to guarantee that the entire system reaches an agreement on the desired state and no Zeno behavior occurs. Finally, two simulation examples are given to investigate the effectiveness of the proposed control strategy.