Event Triggered Control for Leader Following Consensus of Nonlinear Multi Agent Systems
Nacera Bekhadda, Qinghe Wu · 2018
This technical note is concerned with the leader following consensus problem for networked Lipschitz nonlinear multi-agent systems subject to undirected communication topology. We propose an event triggered strategy with the state-dependent triggering function to solve the problem. A distinct feature of this strategy is that the communication does not occur continuously in both controller updates and triggering condition monitoring. Next, by using matrix theory and appropriate Lyapunov techniques it is proved that the leader following consensus can be reached without exhibiting Zeno behavior. Finally, the effectiveness of the proposed strategy is confirmed by numerical simulation example.