Consensus of multi-agent systems with time-varying topology: An event-based dynamic feedback scheme

Wei Zhu, Huaqing Li, Zhong Ping Jiang

Research output: Contribution to journalArticlepeer-review


The event-based control strategy is an effective methodology for reducing the controller update and communication over the network. In this paper, the event-based consensus of multi-agent systems with linear dynamics and time-varying topology is studied. For each agent, a state-dependent threshold with an exponentially decaying bound is presented to determine the event times, and a new event-based dynamic feedback scheme is proposed. It is shown that the controller update for each agent is only dependent on its own event times, which reduces significantly the controller update or computation for each agent. Moreover, based on the event-based dynamic feedback scheme and the event triggering function presented in this paper, the continuous communication among neighboring agents is avoided, and the Zeno-behavior of the closed-loop systems is excluded. A numerical example is given to illustrate the effectiveness of theoretical results.

Original languageEnglish (US)
Pages (from-to)1339-1350
Number of pages12
JournalInternational Journal of Robust and Nonlinear Control
Issue number8
StatePublished - May 25 2017


  • consensus
  • event-based dynamic feedback
  • state-dependent threshold
  • time-varying topology

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Chemical Engineering
  • Biomedical Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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