Event-triggered global consensus of second-order multi-agent systems with asymmetric input saturation

Abstract

This paper addresses the event-triggered global consensus issue of second-order multi-agent systems (MASs) with asymmetric input saturation, where the zero saturation bounds are allowed. First, for the leaderless situation, we propose an event-triggered mechanism and give the criterion for realizing global consensus. Different from the traditional event-triggered strategy in an effort to exclude the Zeno behavior, a preset minimum triggering interval is introduced. That is, the control input will not be updated within this interval after the latest trigger time, and the event-triggered condition is activated after this interval. Moreover, the above results are extended to the leader–follower case. Finally, some numerical examples illustrate the effectiveness of the developed schemes.