Abstract: This paper studies the node-to-node consensus problem of multi-agent networks possessing a leaders’ layer and a followers’ layer. In order to effectively reduce the update rate of the control protocol and avoid the Zeno phenomenon, the scheme is designed as a combination of periodic sampling method and event-triggered control. This method realizes the node-to-node consensus of multi-agent network. Furthermore, based on the Lyapunov stability theory and the linear matrix inequalities approach, some sufficient conditions for the node-to-node consensus problem of multi-agent networks are given. Finally, numerical simulation validates the effectiveness of the theoretical results.

Key words: multi-agent network, periodic sampling, event-triggered scheme, consensus, linear matrix inequality

摘要： 针对具有领导层与跟随者层的多智能体网络点对点的一致性问题进行了研究。为了有效降低多智能体一致性控制协议的更新频率，同时为避免芝诺现象的产生，采用了周期采样与事件触发控制相结合的方案，实现了多智能体网络的点对点一致性。进一步，根据李雅普诺夫稳定性理论，通过建立线性矩阵不等式，给出了领导层与跟随者层网络达到点对点一致性的充分条件。最后，数值仿真进一步验证了理论结果的有效性。

关键词: 多智能体网络, 周期采样, 事件触发机制, 一致性, 线性矩阵不等式