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Mathematical Problems in Engineering
Volume 2014, Article ID 276373, 6 pages
Research Article

Distributed Event-Triggered Control of Multiagent Systems with Time-Varying Topology

1Department of Automation, Tsinghua University, Beijing 100084, China
2NO. 7 Department, NAAU, Yantai 264001, China
3College of Computer and Information Engineering, Beijing Technology and Business University, Beijing 100048, China

Received 9 July 2014; Accepted 31 August 2014; Published 28 September 2014

Academic Editor: Housheng Su

Copyright © 2014 Jingwei Ma et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper studies the consensus of first-order discrete-time multiagent systems, where the interaction topology is time-varying. The event-triggered control is used to update the control input of each agent, and the event-triggering condition is designed based on the combination of the relative states of each agent to its neighbors. By applying the common Lyapunov function method, a sufficient condition for consensus, which is expressed as a group of linear matrix inequalities, is obtained and the feasibility of these linear matrix inequalities is further analyzed. Simulation examples are provided to explain the effectiveness of the theoretical results.