Fully Distributed Dynamic Event-Triggered Leader-Following Consensus for Multi-Agent Systems Based on Finite-Time Observer
Yongkai Hu, Zonggang Li, Jintao Qiu, Xujuan Yang · 2025
This paper investigates the leader-following consensus problem of general linear multi-agent systems with the unavailability of states under a fully distributed approach. A finite-time state observer is constructed for each agent using output information and the implicit Lyapunov function method, which can accurately estimate the agent's actual state within a finite time. Based on the observer, a fully distributed dynamic event-triggered mechanism is developed by introducing two bodebased adaptive parameters and an internal variable. This mechanism avoids using the global information of the communication network and continuous communication, further cuts down the triggering times, and saves communication resources. The multiagent systems can achieve asymptotic consensus while excluding the Zeno behavior under the designed event-triggered rules. A simulation example verifies the effectiveness of the proposed control method.