This paper investigates the leader-following consensus problem of multiagent systems using a distributed event-triggered impulsive control method. For each agent, the controller is updated only when some state-dependent errors exceed a tolerable bound. The control inputs will be carried out by actor only at event triggering impulsive instants. According to the Lyapunov stability theory and impulsive method, several sufficient criteria for leader-following consensus are derived. Also, it is shown that continuous communication of neighboring agents can be avoided, and Zeno-behavior can be excluded in our schema. The results are illustrated through several numerical simulation examples.

中文翻译：

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跟随领导者的多主体系统共识：分布式事件触发的脉冲控制策略

本文采用分布式事件触发脉冲控制方法研究了多智能体系统的领导者遵循共识问题。对于每个代理，仅当某些与状态有关的错误超出可容忍的范围时，才会更新控制器。控制输入​​仅在事件触发脉冲瞬间由参与者执行。根据李雅普诺夫稳定性理论和脉冲方法，导出了几个关于领导者遵循共识的充分标准。此外，还表明可以避免相邻代理的持续通信，并且可以在我们的架构中排除Zeno行为。通过几个数值模拟示例说明了结果。