Leader-Following Consensus of Linear Multi-Agent Systems via Dynamic Event-Triggered Adjustable Control Protocol

In this paper, firstly, a novel dynamic event-triggered adjustable control protocol is proposed, which can be distributed, centralized and mixed by tuning one parameter, where the dynamic event-triggered mechanism includes many existing (dynamic and static) event-triggering mechanisms as special cases. Then with this control protocol, we deal with the leader-follower consensus problem for multi-agent systems. It is shown that the multi-agent system do not exhibit Zeno behavior, and can achieve leader-follower consensus as well as under this control protocol. Finally, an algorithm is provided to avoid continuous communication when the dynamic event-triggering mechanism is implemented. In addition, a numerical example is given to illustrate the validity of the obtained results and the advantage of the proposed control protocol.