Topology-based dynamic event-triggered leader-following consensus of multi-agent systems under switching topologies

This paper is devoted to the topology-based dynamic event-triggered leader-following consensus issue of general linear multi-agent systems under switching topological structures. The novel topology-based distributed dynamic event-triggered rule is formed, in which a topology-based dynamic auxiliary variable is introduced to reduce the conservatism and save resources. Under novel triggering rules, topology-based distributed event-triggered controllers are constructed. Different control gains are designed for different topological structures. Compared with existing works, conservatism is further reduced. Then the leader-following consensus is achieved with a global exponential convergence rate. Moreover, the average dwell time method is adopted to relax restrictions on the switching speed of topological structures and an original analytical thought is put forward to rule out the Zeno phenomenon concisely and clearly. Finally, two numerical examples and a realistic mass-spring system are utilized to verify the feasibility and superiority of the proposed theory.(c) 2023 ISA. Published by Elsevier Ltd. All rights reserved.

Automated summary

This paper focuses on the topology-based dynamic event-triggered leader-following consensus problem of general linear multi-agent systems under switching topological structures. A novel topology-based distributed dynamic event-triggered rule is proposed and topology-based distributed event-triggered controllers are constructed. By achieving global exponential convergence rate, leader-following consensus is achieved, and a method of relaxing the restrictions on switching speed of topological structures is proposed.