Consensus of Nonlinear Multi-agent Systems with Event-triggered Control

We propose an event-triggered control strategy for the consensus problem of nonlinear multiple agents connected by a network. Considering a network with fixed topology,we design an event-triggered consensus protocol and give the sufficient conditions for consensus. Using Lyapunov stability theory,the nonlinear multiple agents in the network can converge to the given objective state. The corresponding theoretical results are extended to the situation of a network with simultaneously switching topology. The validity of proposed control strategy is verified by simulation examples.