Leader-following consensus with distributed event-triggered control for multi-agent systems

This paper presents leader-following consensus with distributed event-triggered control for multi-agent systems. An event-triggered control system with leader-following controller is studied. It is shown that the leader-following consensus for multi-agent systems can be achieved asymptotically. The triggering condition of an agent is not only affected by its own measurement error and the measurement error of its neighbors but also the current state. The feasibility of the proposed control scheme is further verified by excluding the Zeno behavior for each agent. A candidate Lyapunov function is proposed to validate the asymptotic convergence of the multi-agent systems. Simulation results are provided to illustrate the theoretical claims.