Distributed gain scheduling dynamic event-triggered semi-global leader-following consensus of input constrained MASs under fixed/switching topologies

In this paper, the semi-global leader-following consensus issue of multi-agent systems with constrained input under fixed and switching topologies is investigated via a distributed gain scheduling dynamic event-triggered method. First, a novel distributed gain scheduling consensus protocol is proposed under fixed topology, which integrates time-varying gain and distributed parameter schedulers. This approach enhances the transient performance of consensus tracking by enlarging the gain parameter through the scheduler, while the reliance of the scheduler on global state information is eliminated via a distributed design method. Subsequently, a distributed dynamic event-triggered mechanism is introduced to reduce the controller updates, while the expression of the inter-event times mitigates its explicit reliance on the system matrix. Additionally, to eliminate the need for real-time monitoring of neighboring agents' states and continuous communication, a distributed dynamic self-triggered mechanism is developed. Next, our approaches are extended to solve the semi-global leader-following consensus problem under switching topologies. The average dwell time technique is employed to alleviate the limitations on the switching rate among multiple topologies. Finally, the theoretical analysis is validated through simulation results.