Event-Triggered Global Leader-Following Consensus for Multi-agent Systems with Bounded Controls

This paper studies the global leader-following consensus problem for a multi-agent system using event-triggered bounded controls. Both the follower agents and the leader agent are described by a chain of integrators of an arbitrary length. An event-triggered control law is constructed for each follower agent and an event-triggering strategy is designed for updating the control laws. These event-triggered control laws are shown to achieve global leader-following consensus when the communication topology among the follower agents is connected and the leader is a neighbor of at least one follower agent. The absence of the Zeno behavior is established. A self-triggering strategy is also proposed to avoid continuous verification of the triggering condition. Simulation results are given to illustrate the theoretical results.