Fully distributed event-triggered leader-follower tracking control for multi-agent systems over directed switching networks

Abstract

This paper investigates the event-triggered leader-follower tracking control for the general linear multi-agent systems over directed switching networks. We first propose a distributed event-triggered observer to estimate the state of the leader. We guarantee that the estimation errors of the observer are contained within a certain bound and the observer system does not exhibit Zeno behavior The observer is then used to construct an event-triggered controller in a fully distributed manner to achieve the bounded tracking errors. A numerical example is presented to illustrate the efficacy of the theoretical results.