Event-triggered group consensus of leader-following multi-agent systems with nonlinear dynamics

In this paper, the group consensus problem and consensus problem of leader-following multi-agent systems with unknown nonlinear dynamics are studied. Based on event triggering mechanism, group consensus schemes are developed for both cases of fixed and switching network topologies. It is shown that multi-agent systems can achieve group consensus under the proposed consensus protocols. Moreover, the proposed protocols can be reduced to purely decentralized ones when there exists only one leader agent in a multi-agent system. Under the decentralized event-triggered control laws, we can obtain similar results as those of the case of multi leader agents. Finally, simulation results are given to validate the theoretical results.