Event-triggered leader-following consensus of multiple mechanical systems with switched dynamics

Yujiao Liu, Rongqiang Tang, Chao Zhou, Zhengrong Xiang and Xinsong Yang

International Journal of Systems Science, 2020, vol. 51, issue 16, 3563-3572

Abstract: This paper investigates the event-triggered leader-following consensus problem for a class of multiple mechanical systems with switched dynamics. Based on the graph theory, Lyapunov stability theory, backstepping technique and event-triggered control theory, an event-triggered protocol is proposed for the considered multiple mechanical systems. It is proved that the practical leader-following consensus can be achieved by the proposed protocol. Meanwhile, to exclude the Zeno behaviour, a positive lower bound of inter-event intervals is given. Finally, we provide a numerical simulation to illustrate the effectiveness of the given protocol.

Date: 2020
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DOI: 10.1080/00207721.2020.1818146

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