一种基于切换拓扑和事件触发机制的一致性协议

his paper studied a new event-triggered consensus protocol for MASs based on switching topology. Two events are designed in this protocol, including convergence events caused by agent state evolution and topology events caused by topology change. Stability analysis of public Lyapunov function related to events and consensus proof of MASs are given. A network connectivity algorithm based on constraint set is also designed to enhance network connectivity. The simulation results show that the designed event-triggered consensus protocol can make the state evolution of agents tend to be consistent and effectively reduce the update frequency of the controller of agents in the switching topology network environment, reduce the energy consumption of MASs, improve the connectivity effect of the network effectively, and provide theoretical support for the subsequent research of event-triggered control.