Event- and self-triggered consensus for double-integrator networks with relative state measurements

This paper addresses the consensus problem of double-integrator networks via event- and self-triggered control approaches. In the proposed control protocol, only relative state information is utilised to synchronise all agents. First, an event-triggering algorithm with periodic event detection is designed to determine the event times of each agent. Then, a self-triggered control algorithm is provided to further reduce resource consumption. Two numerical simulations are conducted to illustrate the effectiveness of the results.