Distributed event triggered control with state dependent threshold for leader following consensus of general linear multi agent systems

In this paper, the leader following consensus problem of general linear multi-agent systems is investigated, where undirected communication topology is considered. To solve the tracking consensus problem, a distributed event-triggered strategy is designed with state dependent threshold. It is shown that the tracking consensus can be achieved asymptotically without continuous communication in both controller updates and triggering condition monitoring. The feasibility of this proposed event triggered control strategy is further investigated by excluding the Zeno behavior for each agent. Finally, a simulation example is given to validate the theoretical results.