Observer-Based Dynamic Event-Triggered Tracking Consensus for Switched Multi-Agent Systems

Abstract

This article discusses the event-triggered consensus problem for a switched multi-agent system (MASs) with switching topologies. An observer-based dynamic event-triggered (DET) controller with a discontinuous nonlinear term is designed to reduce arduous communication. With the designed approach, the error system can reach a tracking consensus. Then, a continuous observer-based DET protocol is created using the boundary layer method to prevent chattering effects. Moreover, by employing the Riccati equation and the switched Lyapunov function method, some sufficient criteria are put forward to guarantee the tracking consensus of the systems. The suggested observer-based DET protocol can also exclude the Zeno behavior. Finally, two examples verify the validity of the analysis.