Distributed Self-triggered Consensus Tracking Control of Multi-agent Systems

To address the problem of large amounts of data exchanged between multi-agents in the process of designing the consensus protocol, we design a kind of tracking control strategy with trigger judgment conditions for the system combined with the self-triggering control theory. This strategy can reduce the communication load of the network by restricting the selection conditions of trigger time, thereby avoiding the continuous updating of the controller and saving the storage space of interactive information. Meanwhile, the control strategy guarantees that the followers asymptotically track the states of the leader. The simulation examples verify that consensus of the system can be achieved.