Adaptive Dynamic Event‐Triggered Control for Lag Group Consensus of Second‐Order Nonlinear Multi‐Agent Systems With Active Leaders

This article investigates the adaptive lag group consensus control problem of nonlinear second‐order multi‐agent systems with active leaders. In order to eliminate continuous monitoring of measurement errors, a distributed dynamic event‐triggered strategy is first designed and its event‐trigger threshold is more flexible than static event‐triggered one. Model‐dependent Lyapunov functions are adopted to derive several sufficient conditions for guaranteeing the lag group consensus. Moreover, an adaptive dynamic event‐triggered controller is proposed to further estimate the coupling strengths. It is also proved that the Zeno behavior can be excluded under the (adaptive) dynamic event‐triggered strategy. Finally, simulations are presented to illustrate the effectiveness of the theoretical results.