Leader-following consensus tracking of autonomous unmanned systems with fixed/switching topologies: an event-triggered approach
Yanzhou Li, Yuanqing Wu, Shenghuang He, Yongkang Lu · International Journal of Systems Science · 2020
In this paper, the leader-following consensus tracking of autonomous unmanned systems with fixed/switching topologies is investigated by event-triggered approach. Based on state estimates of each follower and its neighbours, a novel event-triggered strategy that can greatly reduce the communication frequency is proposed. On the basis of M-matrix theory, an event-triggered function is designed by suitably constructing a valid Lyapunov function. The communication likes are established when the event-triggered function is satisfied. Furthermore, suppose that each topology contains a directed spanning tree, it is shown that the consensus tracking of autonomous unmanned systems can be achieved under some conditions and the dwell time is bounded by a positive threshold. Zeno behaviour is proved to be excluded in systems. Two examples are given to demonstrate the validity of the proposed approach.