Distributed Periodic Event-Triggered Consensus of Second-Order Nonlinear Multiagent Systems With Switching Topologies

In this letter, a distributed periodic event-triggered (PET) consensus protocol is proposed for nonlinear multiagent systems under directed communication topology switchings. Only at the sampling instants, the information exchanges and the modes of topologies are used. Then, a distributed PET controller with a discrete event-triggering mechanism is proposed to reduce the burden of communication. By deriving a novel average dwell time constraint and constructing multiple Lyapunov functions, the leader–following consensus objective can be achieved. Finally, the proposed method's effectiveness is demonstrated by simulation results.