Design of consensus controller for multi-agent systems with noncontinuous information transmission and second-order nonlinear dynamics

In this paper, consensus controller that doesn’t depend on continuous information transmission for 2nd-order nonlinear multi-agent systems (MASs) is given to deal with event-triggered control problem. So as to remove dependence of continuous information transmission, both dynamic event-triggered mechanism and state observer are employed to design consensus controller. Each agent constructs state observers for its neighbor agents, and uses observers’ states to design controller for consensus object and dynamic event-trigger mechanism for event instant decision. We also proved that MASs can reach consensus with noncontinuous information transmission, and no Zeno-behavior occurs. In the end, the given consensus protocol is applied to an example to show the effectiveness.