Dynamic Asynchronous Event-Triggered Leader-Following Consensus of Heterogeneous Multi-agent Systems

In this paper, we addressed the dynamic event-triggered leader-following consensus control problem in high-order heterogeneous multi-agent systems. Event-triggering conditions are set on both the controller-side and the sensor-side, while the triggering thresholds are set as dynamic parameters that vary with the system’s evolution, allowing for effective reduction of network information transmission. In particular, the designed controller is distributed and has a linear feedback structure that does not involve any recursive computation, thus saving computational resources. Theoretical analysis shows that all signals of the closed-loop system can be guaranteed globally uniformly ultimately bounded under the proposed protocol, and the Zeno behavior can be avoided.