Novel Event-Triggered Control for Time-Varying Leader–Follower MASs on Directed Graphs

The article studies the fully distributed leader–follower and adaptive event-triggered problem with the guarantee of positive minimum interevent times (MIET) for time-varying MAS on directed graphs. First, a novel fully distributed adaptive event-triggered scheme that includes a time-varying matrix gain and two dynamic gains is designed, and the requirement for global topology information can be removed. A novel dynamic triggering mechanism is then put forward for each follower, where an auxiliary dynamic parameter is introduced into the triggering function to guarantee the existence of positive MIETs. Meanwhile, it is worth mentioning that a direct measurement parameter using only the sampling information is leveraged to avoid the use of continuous communication with neighbors. Finally, simulation results are presented to confirm the performance of the proposed method.