Leader-Following Consensus of MASs With Input Constraints: A Time-Varying Dynamic Event-Triggered Approach

The leader-following consensus problem for input constrained multiagent systems is investigated in this article. First, the follower agents are divided into several clusters based on the connectivity of the communication topology. Then, a novel clustered time-varying dynamic event-triggered mechanism (ETM) with adjustable minimum interevent time (MIET) is designed for each cluster, such that the follower agents within the same cluster share a unique ETM and are not influenced by agents in other clusters. Next, an event-triggered-based bounded control protocol with a time-varying gain and a parameter scheduler is proposed for each follower. Finally, the leader-following consensus can be realized with a faster convergence rate and the frequency of controller updates can be significantly reduced. Obviously, with the proposed clustered time-varying dynamic ETM, the Zeno-free phenomenon is guaranteed and the MIET can be modified by adjusting only a design parameter. Simulation results validate the effectiveness of the designed control algorithm.