Event-triggered leader-follower tracking control for heterogeneous interconnected multi-agent systems

This paper considers the event-triggered leader-follower tracking control problem for the heterogeneous physically interconnected systems. We first develop a distributed event-triggered observer for each follower to estimate the leader's state. For the observer system, with the proposed event-triggered scheme, the estimation errors of the observer system asymptotically converge to zero, and Zeno behavior is excluded. Then, we construct an event-triggered controller with the distributed observer to ensure that the tracking errors of the system also asymptotically converge to zero. Finally, a simulation example is presented to demonstrate the efficacy of the theoretical results.