Distributed Event Triggered Control for Tracking Consensus of General Linear Multi Agent Systems Under Directed Graphs

In this paper, the leader following consensus problem for multi agent systems with general linear dynamics under directed graphs is investigated by means of event triggered strategy scheme. To ensure that the followers can track the leader asymptotically, an event triggered control strategy with state dependent threshold is proposed; where the communication does not occur continuously in both controller updates and triggering condition monitoring. Further, Analysis is provided to show that the proposed approach provides leader following consensus with guaranteed positive inter-event time intervals. Therefore, no Zeno behavior will be exhibited under this proposed strategy. Finally, a numerical simulation example is given to illustrate the effectiveness of the proposed event triggered strategy.