Dynamic event-triggered control for leader-following consensus of second-order multi-agent systems with disturbance

Abstract

In this paper, the leader-following consensus problem of second-order multi-agent systems (MASs) with bounded disturbance under the undirected graph is investigated. Firstly, the distributed fixed-time observers are proposed to estimate the tracking errors between leader and follower. Then, with the help of observer and dynamic event-triggered mechanism, the consensus controller is designed to guarantee MASs for achieving the asymptotically consensus, in which the controller is designed based on backstepping approach and only need local cooperative information. Meanwhile, the Zeno behavior can be excluded. Finally, a second-order MASs example is used to verify the event-triggered controller in this paper.