Flocking with a virtual leader based on distributed event-triggered hybrid control

In this paper, a distributed event-triggered hybrid control is proposed to investigate flocking problem with a virtual leader in multi-agent systems. In the proposed control algorithm, the continuous relative position information are used while the relative velocity information are sampled at the instant determined by event-triggered mechanism. It is shown that stable flocking motion is achieved asymptotically while the connectivity of network is preserved, and the virtual leader is tracked. A numerical example is provided to illustrate the theoretical results.