This article investigates adaptive event-triggered control for leader-following group consensus of hybrid heterogeneous multi-agent systems (HMASs) composed of single- and double-integrator agents under cooperative–competitive relationships. By using fully distributed control protocol and adaptive protocol, the leader-following group consensus can be achieved without global information. Additionally, a novel adaptive double dynamic event-triggered mechanism (DDETM) is proposed, in which two independent adaptive event-triggered conditions are devised to maintain events of communication and updates of controllers. Furthermore, adaptive parameters and internal dynamic variables are employed to reduce the number of triggers and exclude Zeno phenomenon. By utilizing Lyapunov stability theory, some sufficient conditions are acquired for the leader-following group consensus of the HMASs. Finally, simulation examples are given to prove the effectiveness of the proposed method.
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