A Novel Exponential Approach for Dynamic Event-Triggered Leaderless Consensus of Nonlinear Multi-Agent Systems Over Directed Graphs

This brief addresses the event-triggered (ET) consensus of nonlinear multi-agent systems (MASs) over directed graphs. A new nonlinearity condition is presented which can be applied specifically for ET consensus of a class of nonlinear MASs. The proposed condition is employed to design distributed consensus controller with exponential stability via dynamic ET mechanism for nonlinear systems. Based on the proposed condition, the resultant dynamic ET consensus approach guarantees elimination of the Zeno behavior. In contrast to existing linear studies, both handling of nonlinear dynamics and design of dynamic ET mechanism for nonlinear MASs are addressed. Simulation results are provided to verify the proposed approach.