Abstract: This paper investigates the consensus problem of multi-agent systems with communication link information known via dynamic event-triggered control. Specifically, the proposed dynamic event-triggered mechanism takes account of channel capacity in the triggering condition, which makes the frequency of information exchange between agents vary with the change of communication resources. That is, to reduce the communication volume when the communication link status is poor, and vice versa. Furthermore, to avoid the use of global topology information so as to be scalable with large systems, an adaptive coupling gain that converges to a finite steady-state value is introduced to form a fully distributed communication link information dynamic event-triggered consensus control scheme. Compared with traditional event-triggered mechanisms, we show that the proposed communication link-aware dynamic event-triggered consensus control protocol can balance the triggering frequency between communication resources and convergence speed. When communication resources are sufficient, the convergence speed is faster than that of traditional event-triggered mechanisms. When communication resources are insufficient, the triggering frequency is less than that of traditional mechanisms.

Key words: multi-agent, dynamic event-triggered, link-aware, consensus control