Event-Triggered Communication for Leader-Following Consensus of Second-Order Multiagent Systems
针对非线性二阶多智能体系统，提出一种无需连续通信的事件触发控制协议，并给出保证领导跟随一致性的充分条件，同时排除Zeno行为。
This paper is concerned with leader-following consensus of second-order multiagent systems with nonlinear dynamics. First, to save the limited communication resources, a new event-triggered control protocol is delicately developed without requiring continuous communication among the follower agents. Then, by employing the Lyapunov functional method and the Kronecker product technique, a novel sufficient criterion with less conservation is derived to guarantee the leader-following consensus while excluding the Zeno behavior. Furthermore, for the first time, an algorithm to actively adjust the leader adjacency matrix is presented, which efficiently expands the application range of some existing criteria. An example is finally given to illustrate the effectiveness of theoretical results.