Event-Triggered Communication for Leader-Following Consensus of Second-Order Multiagent Systems

This paper is concerned with leader-following consensus of second-order multiagent systems with nonlinear dynamics. First, to save the limited communication resources, a new event-triggered control protocol is delicately developed without requiring continuous communication among the follower agents. Then, by employing the Lyapunov functional method and the Kronecker product technique, a novel sufficient criterion with less conservation is derived to guarantee the leader-following consensus while excluding the Zeno behavior. Furthermore, for the first time, an algorithm to actively adjust the leader adjacency matrix is presented, which efficiently expands the application range of some existing criteria. An example is finally given to illustrate the effectiveness of theoretical results.