Multi-Agent Event-Triggered Consensus Based on Distributed State Observer

In this paper, an event-triggered mechanism based on distributed state observer is proposed for multi-agent systems. For the first-order integrated multi-agent systems, the state observer dynamic model of the system state is given. The system controller and event-triggered condition are designed respectively by using the observed states. By constructing a suitable Lyapunov function, the convergence and stability of the system are proved. Simulation examples are used to verify the feasibility of the proposed algorithm.