On Topology Optimization for Event-Triggered Consensus with Triggered Events Reducing and Convergence Rate Improving

This brief considers the network topology optimization problem for event-triggered consensus of multi-agent systems (MASs) to reduce the triggered events and improve the convergence rate. For a MAS with an undirected graph as its communication network, edge swapping operations are applied to optimize its network topology, which keep the number of links incident to each agent unchanged. Based on the theory of graph spectra, a necessary condition is provided to determine an effective edge swapping operation which leads to less event triggered times and faster convergence rate. An iterative algorithm is developed to optimize the network topology for MASs under the first-order event-triggered consensus protocol. Finally, some numerical simulations are given to illustrate the effectiveness of the approach.