Leader-Following Consensus in Second-Order Multiagent Systems via Event-Triggered Control With Nonperiodic Sampled Data

The problem of leader-following consensus in second-order multiagent systems is investigated in this brief, where the data are sampled randomly within a certain known bound and the data transmission is driven by an event-triggered control protocol. A distributed event-triggered control protocol is designed, in which the Zeno behavior is naturally excluded by the strictly positive sampling intervals and the data transmission is largely reduced. Under the proposed protocol, the sufficient condition is derived for assuring the consensus, which declares that the consensus can be achieved if the control gains and the sampling intervals are reasonable. Some numerical examples are provided to demonstrate the effectiveness of the proposed protocol.