An Adaptive Connectivity-Preserving Consensus Strategy with Dynamic Event-Triggering Mechanism

This paper studies adaptive event-triggered consensus with connectivity preservation in the setting of unknown control coefficients and heterogeneous nonlinearities coupling with parameter uncertainties. Specifically, a group of potential functions are given to ensure the relative distances between agents within the limited range for all time. Moreover, two types of dynamic gains for agents are introduced to handle the system nonlinearities, uncertainties and the execution error. Thus, an adaptive event-triggered control protocol is designed to achieve desired consensus with connectivity preservation while Zeno behavior for the closed-loop systems is excluded. Especially, a dynamic event-triggering mechanism incorporating an internal dynamic variable is proposed, which makes the triggering threshold become bigger than that in static one and thereby better improves the resource efficiency. A simulation example is given to verify the effectiveness of the developed control strategy.