Dynamic event-triggered mechanisms (ETMs) have shown potential in further reducing the number of events in comparison to their static counterparts while delivering similar system performance. In this paper, we provide a framework to design dynamic periodic event-triggered controllers for multi-agent systems (MASs) with nonlinear dynamics. A preliminary version of this work on single-agent systems was studied in Dhullipalla et al. (2020). The design methodology adopts an emulation-based technique that assumes the existence of a continuous-time state feedback controller that stabilizes the MAS. The dynamic ETMs are constructed based on an agent’s ability or inability to sense states (or relative states) of fellow agents in the network. To illustrate the design methodologies, two case studies on nonlinear MASs (with Lipschitz and one-sided Lipschitz dynamics), interacting over undirected and directed communication networks, are presented. Finally, the results of the case studies are demonstrated via numerical examples.

与静态对应机制相比，动态事件触发机制 (ETM) 已显示出进一步减少事件数量同时提供相似系统性能的潜力。在本文中，我们提供了一个框架来设计具有非线性动力学的多智能体系统 (MAS) 的动态周期性事件触发控制器。Dhullipalla 等人研究了这项关于单代理系统的工作的初步版本。（2020 年）。设计方法采用基于仿真的技术，假设存在稳定 MAS 的连续时间状态反馈控制器。动态 ETM 是基于代理是否能够感知网络中其他代理的状态（或相对状态）而构建的。为了说明设计方法，非线性 MAS 的两个案例研究（与 Lipschitz和单边 Lipschitz 动力学），在无向和有向通信网络上进行交互。最后，通过数值例子证明了案例研究的结果。