Event-triggered leader-following consensus of non-linear multi-agent systems with switched dynamics

This study investigates the leader-following consensus problem for a class of switched non-linear multi-agent systems via event-triggered protocols, where the switching signal of each agent is different. Both centralised and decentralised event-triggered protocols are proposed for the switched non-linear multi-agent systems. The results are then extended to the self-triggered control cases, respectively. It is proved that the practical leader-following consensus can be achieved by designed protocols. Moreover, the feasibility of the proposed control schemes is further verified by excluding the Zeno behaviour. Finally, a numerical example is given to illustrate the effectiveness of the proposed method.