Fully Distributed Event-Based Protocols for Lipschitz Nonlinear Multi-Agent Systems

This article addresses the cooperative control problem of multi-agent systems with Lipschitz nonlinearities. In order to achieve consensus, we design a distributed adaptive event-triggered protocol for these participators. The proposed protocol with mixed event-triggered mechanism can be implemented by each agent in a fully distributed fashion and guarantees that the consensus errors and the adaptive gains are uniform ultimate bounded. We also derive explicitly the relationship between the error bound and the parameters of the protocol. Further, the protocol can avoid the Zeno behavior while reducing the operating frequency of the sensor and controller. The problem of leader-follower consensus is also considered.