Event-triggered control of second-order nonlinear multi-agent systems with directed topology

Abstract

This paper investigates the distributed event-triggered control problems of second-order nonlinear multi-agent systems (MASs) with directed graph. Firstly, an event-triggered consensus algorithm is developed for second-order nonlinear MASs. It is proved that MASs reach practical consensus and Zeno-behavior doesn't occur. Secondly, for leader–follower MASs, an event-triggered tracking algorithm is presented, which ensures that follower agents track leader agent even when leader agent has a nonzero input. Finally, a numerical simulation is given to show effectiveness of the proposed consensus algorithm.