Observer-based event-triggered consensus of leader-following linear multi-agent systems with input saturation and switching topologies

Abstract

In this paper, the observer-based leader-following consensus problem for multi-agent systems with input saturation is studied under fixed and switching topology. Firstly, based on the measurable output information of systems, we construct an auxiliary observation system to estimate the real state information of systems. At the same time, the centralized event-triggered control is considered in the fixed and switching topology, and the Lyapunov function and Cauchy’s convergence criterion are used to prove that the consensus of systems can be achieved. Secondly, the sufficient conditions of the event-triggered function are given, and it is proved that the constructed centralized event-triggered function can exclude the Zeno behavior. Then, the group case is considered in the fixed topology, and it is emphasized that the group event-triggered mechanism has the idea of event-triggered and decentralized control. Finally, the validity and feasibility of the theoretical results are illustrated by numerical examples.