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Event-triggered consensus tracking for multiple agents with nonlinear dynamics

This paper solves the event-triggered consensus tracking problem for multiple agents with unknown nonlinear inherent dynamics, in the presence of a given mobile leader. For each agent, a consensus protocol is proposed by using the local sampled information at its own event-triggering time instants that are determined by a distributed event-triggered condition. It is shown that all the nonlinear agents can reach consensus under the designed event-triggered protocol, and the calculation methods of the feedback matrix are given for directed and undirected interaction topology, respectively. Finally, a simulation is given to verify the obtained results.