Event-Triggered Optimal Consensus of Heterogeneous Nonlinear Multi-Agent Systems

This paper deals with optimal consensus problems of a general heterogeneous nonlinear multi-agent system. A novel filter is proposed for each agent by integrating local gradients neighboring output information. Using this and introducing an appropriate auxiliary variable, the event-triggered control algorithm obtained within framework prescribed performance control. One remarkable properties that it can save resources updating signals only when necessary rather than periodically while achieving consensus. Theoretical simulation verifications without Zeno behavior are carefully studied. Instructions also presented parameter selection to keep residual errors as small desired.