Second-order leader-following consensus based on time and event hybrid-driven control

The leader-following consensus problem of multi-agent systems with double-integrator dynamics is considered in this paper. Herein, there is only one leader, the interaction topology among the followers is undirected, and the followers are reachable from the leader. A novel consensus protocol based on time and edge event hybrid-driven techniques is proposed, and two associated event-triggering rules are presented. Each edge event relies on the information of the corresponding two neighboring agents and event-triggering actions over different edges are independent of each other. It is shown that the proposed protocol can solve the leader-following consensus problem. Moreover, the controller-updating costs and communication costs are largely reduced. Finally, simulations are given to demonstrate the effectiveness of our theoretical results.