Distributed Event-Triggered Control for High-Order Nonlinear Multi-Agent Systems

In this paper, we study the distributed output tracking problem for high-order nonlinear multi-agent systems based on event-triggered control. A new trigger mechanism is proposed to guarantee a positive minimum execution time interval, which means that the Zeno phenomenon is effectively avoided. A new event-triggered control scheme are designed, which ensure that the output tracking error can be made arbitrarily small while keeping the controller and all the states bounded. Finally, a simulation example is given to illustrate the effectiveness of the designed event-triggered control scheme.