Event-triggered global consensus of second-order multi-agent systems with asymmetric input saturation

This paper addresses the event -triggered global consensus issue of second -order multi -agent systems (MASs) with asymmetric input saturation, where the zero saturation bounds are allowed. First, for the leaderless situation, we propose an event -triggered mechanism and give the criterion for realizing global consensus. Different from the traditional event -triggered strategy in an effort to exclude the Zeno behavior, a preset minimum triggering interval is introduced. That is, the control input will not be updated within this interval after the latest trigger time, and the event -triggered condition is activated after this interval. Moreover, the above results are extended to the leader-follower case. Finally, some numerical examples illustrate the effectiveness of the developed schemes.