This paper investigates the event-triggered leader-following consensus problem for a class of multiple mechanical systems with switched dynamics. Based on the graph theory, Lyapunov stability theory, backstepping technique and event-triggered control theory, an event-triggered protocol is proposed for the considered multiple mechanical systems. It is proved that the practical leader-following consensus can be achieved by the proposed protocol. Meanwhile, to exclude the Zeno behaviour, a positive lower bound of inter-event intervals is given. Finally, we provide a numerical simulation to illustrate the effectiveness of the given protocol.

中文翻译：

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具有切换动力学的多个机械系统的事件触发的领导者跟随共识

本文研究了一类具有切换动力学的多机械系统的事件触发的领导者跟随共识问题。基于图论、李雅普诺夫稳定性理论、反推技术和事件触发控制理论，提出了一种针对多机械系统的事件触发协议。事实证明，所提出的协议可以实现实际的领导者跟随共识。同时，为了排除 Zeno 行为，给出了事件间间隔的正下限。最后，我们提供了一个数值模拟来说明给定协议的有效性。