Event-triggered consensus of multi-agent systems under jointly connected topology

This paper investigates event-triggered leaderless and leader-following consensus problems of multi-agent systems under jointly connected topology. A state-dependent event condition is proposed for each agent, which only relies on its own state and the last sampled data of itself and its neighbours. Based on the Lyapunov technique and algebraic graph theory, the designed event-triggered control strategies are proved to solve the leaderless and leader-following consensus problems when the topology is jointly connected. Moreover, such strategies can exclude Zeno-behaviour. Simulations illustrate the effectiveness of the theoretical results.