SCIENCE CHINA Information Sciences, Volume 63 , Issue 5 : 150203(2020) https://doi.org/10.1007/s11432-019-2692-9

Rotating consensus control of double-integrator multi-agent systems with event-based communication

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  • ReceivedMay 19, 2019
  • AcceptedSep 23, 2019
  • PublishedMar 25, 2020


This paper solves the rotating consensus problem for a group of double-integrator agents with event-based communication only. We propose a distributed event-based rotating consensus protocol, which guarantees that a consensus regarding both position and velocity is achieved when all agents exhibit circular motion around the same center. It is observed that overall less communication is required as the communication between agents is only needed at event times. Moreover, with the proposed event-based protocol, it is proved that Zeno behavior can be strictly avoided for each agent. Numerical simulations show that this event-based control law can efficiently solve the rotating consensus problem.


This work was supported in part by National Natural Science Foundation of China (Grant Nos. 61803392, 61790572, 618909302), China Postdoctoral Science Foundation in Central South University (Grant Nos. 2018M6- 30912, 2019T120714), and Hunan Provincial Natural Science Foundation (Grant No. 2018JJ3685).


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