Event-triggered leader-following consensus for multi-agent systems with external disturbances under fixed and switching topologies

In this study, the event-triggered leader-following consensus problem for multi-agent systems with external disturbances is addressed under fixed and switching topologies. First, based on an extended state observer, a novel distributed event-triggered protocol is designed under a fixed topology to achieve consensus disturbance rejection and eliminate Zeno behaviour. Second, for the case of switching topologies which do not always have a directed spanning tree, an observer-based event-triggered protocol is proposed with topology-dependent average dwell time. Moreover, both protocols presented are without the requirement of continuous information transmission among neighbouring agents. Finally, two numerical examples are provided to illustrate the effectiveness of the results.