Event-triggered consensus for delayed second-order leader-following heterogeneous multi-agent systems under input saturated condition

Yiping Luo, Xitong Gao, Jinde cao, Ardak Kashkynbayev

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


The event-triggered consensus problem for observer-based second-order leader-following heterogeneous multi-agent systems with nonlinear term delay under input saturation conditions is investigated in this study. For a class of second-order leader-following heterogeneous multi-agent system models, the situation of agents with nonlinear delay terms in the system is considered. The observer is designed to reconstruct the state of the system. The structural state replaces the real state of the system to achieve the required state feedback, and the difference between the output quantities is inputted into the system as a feedback quantity (deviation) to achieve a better simulation. Considering the phenomenon of saturation control in many control systems, multi-agent consensus is achieved by combining saturation control and event-triggered pinning control in the controller. On the premise that each agent is affected by input saturation, an event-triggered pinning control protocol is designed to achieve the purpose of control by pinning down some key agents. The sufficient conditions for the second-order multi-agent system to achieve consensus are obtained by using the Lyapunov stability theory, algebraic Riccati equation, matrix theory, and other analytical techniques. The proposed event-triggered function can avoid Zeno behavior. The feasibility of the results is verified by numerical simulation.

Original languageEnglish
Pages (from-to)4908–4923
Number of pages16
JournalJVC/Journal of Vibration and Control
Publication statusPublished - 2023


  • event-triggered
  • heterogeneous
  • Input saturation
  • leader-following
  • observer

ASJC Scopus subject areas

  • General Materials Science
  • Automotive Engineering
  • Aerospace Engineering
  • Mechanics of Materials
  • Mechanical Engineering


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