IPASJ International Journal of Mechanical Engineering (IIJME)

This paper proposes a novel event-triggered consensus tracking protocol for first-order multi-agent systems with a virtual leader. The event detector is designed based on the local sampled-data, and information exchange happens only at corresponding event instants. The Lyapunov function method is used to derive the sufficient conditions for consensus tracking. The bound of the inter-event time is ensured, and thus Zeno-behavior is avoided. Finally, numerical simulations are provided to illustrate the effectiveness of the proposed protocol.