Event-Triggered Average Consensus of Multiagent Systems with Switching Topologies

Event-triggered average consensus of multiagent systems with switching topologies is studied in this paper. A distributed protocol based on event-triggered time sequences and switching time sequences is designed. Based on the inequality technique and stability theory of differential equations, a sufficient condition for achieving average consensus is obtained under the assumption that switching signal is ergodic and the total period over which connected topologies is sufficiently large. A numerical simulation is presented to show the effectiveness of the theoretical results.