Group Consensus of Second-Order Sample MASs via Distributed Event-Triggered Mechanism

The group consensus of second-order sample multi-agent systems is investigated by using the distributed event-triggered mechanism. Firstly, a consensus protocol is proposed with distributed event-triggered mechanism. Consensus protocol is updated only when the event-triggered condition is met, and the update of consensus protocol only depends on the data collected by the sample holder at the moment of triggering. Secondly, the sufficient condition to realize group consensus is obtained. Thirdly, the differential equation is constructed by comparison theorem to obtain a minimum positive and lower bound for any two trigger time intervals. The Zeno phenomenon is also avoided. Finally, the effectiveness is verified by a simulation example.