Distributed event-triggered consensus control for a class of nonlinear multi-agent systems under switching topologies

Abstract

A distributed event-triggered consensus control protocol is proposed for a class of nonlinear multi-agent systems with switching topologies. The nonlinear dynamics and switching topologies are considered simultaneously to adapt to some actual scenarios. To economize the communication resources, a distributed event-triggered mechanism is established to decrease the consumption of communication resources. The new event-triggered mechanism is constructed by the information of distributed errors, which can fully utilize communication relationships among agents to control the timing of events. A class of negative exponential functions is added to the event-triggered condition as the event-triggered mechanism is applied for the presented multi-agent systems. The design of event-triggered condition can reduce the occurring frequency of events when the adjusting time of control scheme begins at an initial small amount period of time. Finally, the simulation results are provided, which verify the feasibility and effectiveness of the designed event-triggered consensus control strategy for the presented multi-agent systems with switching topologies.