Observer-based event-triggered group consensus tracking of hybrid multi-agent systems

Consensus tracking of multi-agent systems is widely used in unmanned aerial vehicle formation. Existing methods have difficulties in multi-target tracking and saving communication resources at the same time. In this paper, the problem of group consensus tracking of hybrid multi-agent systems based on observers is investigated under event-triggered conditions. The adjacency matrix is reconstructed by group classification, and a distributed observer is applied. A group consensus tracking control protocol is designed. In order to reduce the unnecessary waste of controller update and communication resources, an event-triggered strategy is designed to avoid the occurrence of Zeno behavior fundamentally. The Lyapunov method is used to prove that the system can achieve group consensus tracking. Finally, a simulation example is given to verify the effectiveness of the research results.