Event-Triggered Distributed Average Tracking over Directed Networks

In this article, the distributed average tracking (DAT) problem for generic linear multi-agent system is investigated over directed network. First, a distributed expanded dimension estimator methodology is designed to overcome the asymmetry problem caused by directed network. Further, in order to reduce the communication cost of the system, an event-triggered mechanism based on the sampling error of the agent itself has been developed and embedded in the above DAT algorithm, which effectively reduces the communication frequency between agents. Finally, a simulation example was presented to verify the above algorithms.