Output‐Based Dynamic Event‐Triggered Finite‐Time Leader‐Following Consensus for General Linear Multi‐Agent Systems

ABSTRACT Based on output feedback control, this paper studies the dynamic event‐triggered finite‐time leader‐following consensus problem for general linear multi‐agent systems with unavailable states. Firstly, an observer based on the system's output state is constructed for each agent, and a finite‐time consensus controller is designed based on the observed value for each agent. Secondly, an internal dynamic variable combined with system state is proposed, and a dynamic event‐triggered function with dynamic threshold is further designed for each agent to reduce the number of events. Thirdly, the reliability of the proposed mechanism is proved through stability analysis, and Zeno behavior is excluded. Finally, a simulation example verifies the rationality of the proposed mechanism. The results show that the dynamic event‐triggered mechanism proposed has excellent performance in reducing event frequency and achieving consensus, which shows the advantages in saving resources and in the case of state unavailability.