Leader–Follower Consensus of Switched Multi-Agent Systems Under Distributed Event-Triggered Scheme

This paper proposes an event-triggered distributed switching strategy, which solves the consensus problem of switching multi-agent systems. By introducing an event-triggering mechanism, the exchange signals of each agent are updated only at discrete trigger moments, thereby reducing communication and computing loads. The design of the trigger conditions takes into account the error between the follower and its neighbor states to ensure consensus is reached. By constructing multiple Lyapunov functions and using loop functions related to event triggering, the conservativeness of multiple Lyapunov function methods is relaxed. It is shown that the closed-loop system achieves exponential leader—follower consensus even when all subsystems are unstable, while strictly excluding Zeno behavior. Numerical simulations verify the effectiveness of the proposed method.