Adaptive Consensus of Nonlinear MASs with Event-triggered Updating Algorithm

This paper investigates the consensus problem for a class of nonlinear leader-follower multi-agent systems with event-triggered updating algorithm. Unlike the most existing event-triggered control protocols, the controllers and parameter update laws are event-triggered and transmitted simultaneously by a composite event-triggered condition. An exponential term of consensus errors is constructed novelly in the event-triggered condition to exclude Zeno behavior and decrease the number of events. Moreover, the stability of the closed-loop system is proved by using the Lyapunov stability theory. At the same time, all the signals in the closed-loop systems are globally bounded and the consensus errors converge to a small neighborhood of origin exponentially under the proposed control schemes. Finally, numerical simulation results illustrate the effectiveness of the proposed control schemes.