Observer based event-triggered leader-follower consensus of multi-agent systems

Event-triggered control strategy is an effective method in multi-agent systems with limited resources. In this paper, a consensus tracking problem of leader-follower multi-agent systems via observer-based event-triggered control is studied. In our set-up, only a subset of the followers can obtain some relative information on the leader. Assume that the leader's control input is unknown for the followers. In order to track such a leader, we design an observer for each follower to estimate the leader's control input, and then propose an observer-based event-triggered control strategy, in which each agent is allowed to be triggered only at its own triggering time instants. It is proved that under the proposed control strategy, the tracking problem can be solved if the communication graph of the agents is connected and the Zeno-behavior of triggering time sequences can be avoided. Finally, an example is given to illustrate the effectiveness of the proposed control.