Consensus Control of Multi-Agent Systems with Different State Constraints and Event-Triggered Communication

This paper considers the problem of achieving consensus in multi-agent systems subject to different state constraints. To address this issue, we present a new consensus protocol that involves using an event-triggered condition and projection operator to reduce communication burden while ensuring state constraint satisfaction. We also introduce an auxiliary state into the Lyapunov function, which enables us to prove that asymptotic consensus can be achieved without Zeno behavior. A key advantage of our method is that it only requires the last neighbor broadcast information and does not necessitate continuous communication or prior knowledge of global network parameters. Finally, we provide simulations to demonstrate and validate our proposed protocols.