Event-triggered consensus seeking of heterogeneous first-order multi-agent system

Consensus problem under event-triggered mechanism is investigated for a heterogeneous first-order multi-agent system, in which agents are modeled by single integrator with distinct nominal velocities. A leader-following adaptive consensus algorithm is proposed, and the agents' states are only updated at discrete event instants computed from an event-triggering function in a centralized way. By constructing Lyapunov function, sufficient conditions are obtained for the agents converging to an asymptotic consensus under undirected and symmetric topology, and a lower inter-event interval bounded by a strictly positive constant is provided to avoid the Zeno-behavior. A numerical simulation example is presented to validate the proposed control strategy.