Adaptive Event-Triggered Leader-Follower Consensus of Linear Multiagent Systems Under Directed Graph With Nonzero Leader Input

This paper investigates the leader-follower consensus problem of linear multiagent systems (MASs) with nonzero leader input under the directed graph. By proposing the innovative adaptive event-triggered mechanism, the proposed control protocol does not need continuous communication among neighbors, and the control protocol can be updated intermittently for each follower. Moreover, Zeno behavior can be excluded for each agent. Note that the existence of the leader’s nonzero bounded input enormously increases the difficulty of solving the leader-follower consensus problem. At last, two numerical examples are introduced to show the effectiveness and advantages of the designed protocol.