Event-Triggered Output Feedback Control for Leader–Follower Consensus of Feedforward Nonlinear Multiagent Systems

This article addresses the event-triggered output feedback control problem for feedforward nonlinear multiagent systems. A novel time-varying gain control method for the design of distributed consensus protocol is presented by means of a directed communication topology. An improved gain function is introduced to establish the relative threshold strategy and compensators. The distributed controllers are constructed such that the leader–follower consensus errors converge to a bounded region that is adjustable. The main advantage of the proposed method is that the consensus performance and event inter-execution intervals are taken into account. This strategy greatly accelerates the convergence rates of consensus errors and avoids the Zeno-behavior. The simulation results show the effectiveness of the established consensus protocol.