This paper is concerned with leader-following consensus of second-order multiagent systems with nonlinear dynamics. First, to save the limited communication resources, a new event-triggered control protocol is delicately developed without requiring continuous communication among the follower agents. Then, by employing the Lyapunov functional method and the Kronecker product technique, a novel sufficient criterion with less conservation is derived to guarantee the leader-following consensus while excluding the Zeno behavior. Furthermore, for the first time, an algorithm to actively adjust the leader adjacency matrix is presented, which efficiently expands the application range of some existing criteria. An example is finally given to illustrate the effectiveness of theoretical results.

中文翻译：

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二阶多智能体系统领导者跟随共识的事件触发通信


本文关注的是具有非线性动力学的二阶多智能体系统的领导者跟随共识。首先，为了节省有限的通信资源，精心开发了一种新的事件触发控制协议，不需要跟随者代理之间的持续通信。然后，通过采用Lyapunov泛函方法和Kronecker乘积技术，导出了一种新的具有较少守恒性的充分准则，以保证领导者跟随共识，同时排除Zeno行为。此外，首次提出了一种主动调整领导者邻接矩阵的算法，有效扩展了一些现有准则的应用范围。最后给出一个算例来说明理论结果的有效性。