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Leader-Following Consensus of Nonlinear Multi-Agent Systems Using Observer-Based Event-Triggered Control

This paper is devoted to the problem of leader-following consensus for a class of multi-agent systems with Lipschitz nonlinear dynamics. For reducing the communication resources, the centralized and decentralized event-triggered consensus strategies are proposed, respectively. Then, in the view of graph theory and Lyapunov stability theory, the triggering function which is related to the states of neighbor agents and corresponding agent, is obtained. Finally, a simulation example is included to demonstrate the effectiveness of the control strategies.