Resource-Aware Asymmetric Event-Triggered Resilient Cooperative Control for Heterogeneous Multi-Agent Systems

Abstract

To address the challenges of constrained communication resources and external disturbances in heterogeneous multi-agent systems, this paper proposes a resource-aware asymmetric event-triggered resilient cooperative control strategy. In contrast to traditional uniform triggering mechanisms, the inherent heterogeneity in agent capabilities is considered with assigning differentiated triggering gain coefficients to nodes based on their varying computing and communication capacities. A resilient recovery mechanism is designed such that when the formation deviates from a steady state due to disturbances, high-resource nodes prioritize state updates via more sensitive triggering logic. The strategy enables high-frequency information to pull the entire formation toward rapid resilience recovery, while resource-constrained nodes maintain low-frequency triggering to conserve energy. Using Lyapunov stability theory, the bounded convergence is proven for the closed-loop system, and Zeno behavior is successfully excluded. Results show that the proposed strategy significantly accelerates disturbance recovery while substantially reducing the communication burden on resource-constrained nodes, thereby validating the effectiveness of the scheme.