Flocking of uncertain nonlinear multi-agent systems via distributed adaptive event-triggered control

This paper investigates flocking problems with uncertain nonlinear multi-agent systems. Two distributed adaptive event-triggered control algorithms are proposed for leaderless and leader-follower flocking, separately. According to Lyapunov stability theory, under the proposed control protocols, we obtain some sufficient conditions to ensure stable flocking motion and maintain connectivity of network topology. And it is proven that there is a positive lower limit of the interval between any two trigger events, which indicates that the Zeno behavior will not occur. As a result, communication bandwidth resources are effectively saved on the premise of stable flocking. Lastly, numerical simulations are presented to verify the availability of the theoretical results. CO 2021 Elsevier B.V. All rights reserved.