Abstract
The paper addresses then event-triggered consensus problem for the leader-following multi-agent system with unknown nonlinear inherent dynamics and subject to external disturbances. Based on the neighbors’ sampled information at event-triggering time instants, a distributed control protocol is proposed to ensure that the nonlinear multi-agent system can reach consensus with the desired disturbance attenuation level. Some conditions are further derived to determine the feedback matrix of the controller for networks with directed and undirected interaction topology, respectively. Finally, a simulation is given to verify the obtained theoretical results.
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