Hybrid event- and time-triggered control for double-integrator heterogeneous networks

  • Gaopeng Duan
  • Feng Xiao
  • Long WangEmail author
Research Paper


This paper investigates the state consensus for double-integrator networks under heterogeneous interaction topologies. For double-integrator networks, the setting of heterogeneous topologies means that position and velocity information flows are modeled by two different graphs. The corresponding protocol proposed in this paper is based on edge-event-triggered control. The events based on position information are irrelevant to velocity information and independent of the events based on velocity information. And for different edges, the corresponding events are activated independently of each other. Once an event occurs, the agents connected by the associated edge will sample their corresponding relative state information and update their corresponding controllers. Furthermore, under the presented event-triggering rules, the state consensus of double-integrator networks can be achieved by designing appropriate parameters. In addition, the proposed protocol with the event-triggering rules can effectively improve the system performance and avoid the occurrence of Zeno behaviors. Finally, a simulation example is worked out to verify the theoretical analysis.


consensus sampled-data control multi-agent systems edge-event-triggered control heterogeneous networks 



This work was supported by National Natural Science Foundation of China (Grant Nos. 61751301, 61533001, 61873074).


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Copyright information

© Science China Press and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Center for Systems and Control, College of EngineeringPeking UniversityBeijingChina
  2. 2.Research Institute of Intelligent Control and SystemsHarbin Institute of TechnologyHarbinChina

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