Distributed Event-Triggered Leader-Follower Consensus of Nonlinear Multi-Agent Systems

TL;DR

This paper proposes a distributed control approach for nonlinear multi-agent systems that achieves leader-follower consensus using event-triggered communication, with two novel conditions balancing consensus accuracy and Zeno behaviour prevention.

Contribution

It introduces two new Communication Triggering Conditions for nonlinear multi-agent systems that enable practical consensus while avoiding Zeno behaviour.

Findings

Achieves asymptotic consensus without Zeno behaviour.

Provides practical consensus with Zeno behaviour exclusion.

Demonstrates effectiveness through theoretical analysis.

Abstract

We consider the distributed leader-follower consensus problem with event-triggered communications. The system under consideration is a non-linear input-affine multi agent system. The agents are assumed to have identical dynamics structure with uncertain parameters and satisfying an incremental stabilisability condition. A distributed control law is proposed which achieves consensus based on two novel Communication Triggering Conditions (CTCs): the first one to achieve an asymptotic consensus but without any guarantees on Zeno behaviour and the second one to exclude Zeno behaviour but with practical consensus.