Event-based leader-following consensus for uncertain non-linear multiagent systems

This study investigates a distributed leader-following consensus problem for a class of high-order uncertain non-linear multiagent systems. For the uncertain non-linear terms in the systems, the authors propose a less conservative Lipschitz condition, which the Lipschitz growth parameters are unknown. By using the adaptive method, the unknown Lipschitz growth parameters are estimated asymptotically. Furthermore, to lower the frequency of controller updates, a new dynamic event-triggered control strategy with the novel dynamic variable is constructed based on the event-triggered method. The distributed consensus protocol is proposed based only on the relative state information of neighbouring agents and the protocol can ensure that the Zeno-behaviour no longer occurred. Based on the Lyapunov stability theory, it is strictly proved that the state variables of the followers can track asymptotically those of the leader. Finally, a simulation example is presented to demonstrate the effectiveness of the proposed theoretical results.