Cooperative Control for Nonlinear Multi-Agent Systems Based on Event-Triggered Scheme

In this note, the cooperative control problem has been investigated for a type of nonlinear leader-follower multi-agent system based on a novel event-triggered scheme. In order to eliminate continuous communication between neighboring agents, the controller is designed by using state estimates of neighboring agents instead of their real states. The communication instants are determined by the developed event-triggered strategy to minimize the amount of communication between neighbors. A Lyapunov-based cooperation error convergence analysis has been provided to indicate the bounded convergence of the proposed control algorithm. Finally, a simulation case has been given to verify the effectiveness of the proposed scheme.