Cluster consensus control of nonlinear multi-agent system with switching topology and uncertain disturbances via event-triggered strategy*

Under the distributed event-triggered control strategy, the cluster consensus of NMASs with switching topology and uncertain disturbances is investigated. Event-triggered control strategy is only executed when the trigger conditions are satisfied, which can reduce energy consumption in the control process. In order to be close to reality, the system considers switching topology and the external uncertain disturbances. By means of using Lyapunov stability theory, algebraic graph theory and matrix theory, some sufficient conditions for achieving consensus of NMASs clusters are obtained. In addition, it is proved that eliminate Zeno phenomenon under event-triggered control scheme. Finally, an example simulation is given to verified the validity of the theoretical results.