Event-triggered observer-based tracking control for leader-follower multi-agent systems

Abstract

This paper considers the consensus tracking problem for a class of leader-follower multi-agent systems via event-triggered observer-based control.In our set-up, only a subset of the followers can obtain some relative information on the leader.Assume that the leader's control input is unknown for the followers.In order to track such a leader, we design two novel event-triggered observer-based control strategies, one centralized and the other distributed.One can prove that under the proposed control strategies, the tracking problem can be solved if the communication graph of the agents is connected.Furthermore, the Zeno-behavior of triggering time sequences can be avoided.Finally, a numerical example is given to illustrate the effectiveness of the obtained theoretical results.