Event-triggered leader-following consensus of multi-agent systems with guaranteed performance specifications

The article investigates the leader-following consensus problem for second-order multi-agent systems (MASs) with guaranteed performance specifications. First, some event-triggered strategies are introduced for systems with and without disturbances, which can effectively reduce the frequency of controllers' update and no Zeno-behavior is occurred. Especially, the self-triggered strategy proposed for MASs without disturbances does not require continuous communication between agents. Second, based on Lyapunov theory, we have demonstrated that the proposed distributed controllers can achieve the predefined performance specifications of the system, that is, the position tracking error can meet the steady-state error accuracy requirements within an appointed time, while ensuring that the cumulative position difference (CPD) converges to the region specified by the performance function. Finally, the effectiveness of the theoretical results is demonstrated through simulation experiments.