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Event-Triggered Control of Lag Consensus for Leader-Following Multi-agent Systems with Nonlinear Dynamics

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Abstract

Lag consensus is an essential dynamic behavior in nature and practical systems, which means that the trajectory of followers lags behind the leader owing to a track time-delay. In this paper, the lag consensus problem under event-triggered control is investigated for leader-following multi-agent systems with nonlinear dynamics. A novel static event-triggered control strategy based on combined measurement is presented to avoid continuous information interaction between agents by introducing a track time-delay. It should be emphasized that this control protocol is fully distributed, that is, the global information in the network is not involved. In addition, for each agent, the information transmission and the updates of control protocol only arise at its own triggering instants. Based on stability theory, a sufficient condition is derived for leader-following multi-agent systems with nonlinear dynamics to achieve lag consensus. Moreover, it is exhibited that Zeno behavior is excluded by proving the existence of a positive lower bound for the triggering interval. Finally, the correctness of theoretical results is verified via numerical simulations.

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Acknowledgements

This work was supported jointly by the National Natural Science Foundation of China under Grant No. 62166010, the Natural Science Foundation of Guangxi, China, under Grant 2023GXNSFBA026141, Guangxi Key Laboratory of Cryptography and Information Security, China under Grant No. GCIS202129 and the Science and Technology Project of Guangxi under Grant Guike AD23023002.

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Authors and Affiliations

  1. School of Mathematics and Computing Science, Guilin University of Electronic Technology, Guilin, 541000, China

    Junsheng Yu, Zhongjun Ma & Kezan Li

  2. Center for Applied Mathematics of Guangxi (GUET), Guilin, 541000, China

    Junsheng Yu & Kezan Li

  3. Guangxi Key Laboratory of Cryptography and Information Security, Guilin University of Electronic Technology, Guilin, 541000, China

    Zhongjun Ma

  4. School of Traffic and Transportation, Northeast Forestry University, Harbin, 150000, China

    Mengying Chang

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  1. Junsheng Yu
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Correspondence to Zhongjun Ma.

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Yu, J., Ma, Z., Li, K. et al. Event-Triggered Control of Lag Consensus for Leader-Following Multi-agent Systems with Nonlinear Dynamics. Circuits Syst Signal Process 43, 3500–3515 (2024). https://doi.org/10.1007/s00034-024-02646-w

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  • DOI: https://doi.org/10.1007/s00034-024-02646-w

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