Consensus for Nonlinear Multiagent Systems via Hybrid Event-Triggered Mechanism

This article addresses the leader-following consensus problem for a class of nonlinear multiagent systems under the event-triggered mechanism. Prior to control design, the topology hierarchical decomposition method is employed to simplify and layer the system topology, thereby reducing the complexity of topology and the communication burden of each agent. For each agent, a novel distributed observer is proposed under the event-triggered mechanism to estimate other agents' states, eliminating the necessity for real-time information from other agents. In addition, the hybrid dynamic event-triggered mechanism is developed, which can reduce the frequency of communication between agents. Furthermore, a leader-following consensus protocol is constructed under the proposed event-triggered mechanism to ensure that all followers will track the trajectory of the leader. Moreover, the protocol is updated discontinuously, reducing computation costs for the systems. An example is provided to verify the effectiveness of the proposed control algorithm.