IJCAS

The paper systematically studies the leader-follower (LF) problem in time-varying multi-agent systems (TVMASs) on undirected/directed graphs by a distributed/fully distributed event-triggered protocol. A general form of the event-triggered strategy is investigated to ensure state consensus among agents on an undirected and connected graph, which is extended to a directed graph containing a spanning tree. Then, two adaptive time-varying event-triggered strategies are provided to solve the LF problem on undirected and directed graphs such that the Laplacian matrix in design can be relaxed. A triggering condition and four novel event-triggered functions that involve dynamic parameters are designed under no Zeno behavior. Finally, the availability of the obtained systematic results is shown by a simulation example.

Keywords: Fully distributed, LF, time-varying event-triggered control, TVMASs, Zeno behavior.