Bounded Consensus of Heterogeneous Multi-Agent Systems via Event-Triggered Impulsive Control

This paper investigates the leader-following consensus of heterogeneous multi-agent systems via event-triggered impulsive control. Since the heterogeneity in multi-agent systems, the bounded consensus rather than exact consensus is studied. An event-triggered impulsive controller with impulsive gain matrix is proposed for the purpose of reducing the upper bound of consensus error. Some criteria are derived based on suitable Lyapunov function to guarantee the bounded consensus, and the Zeno behavior is ruled out. Based on the derived criteria, the impulsive gain matrix can be obtained by solving several linear matrix inequalities. An example with coupled Chua's circuits is presented to demonstrate the theoretical findings.