Event‐triggered leader–following consensus of non‐linear multi‐agent systems with switched dynamics

This study investigates the leader–following consensus problem for a class of switched non‐linear multi‐agent systems via event‐triggered protocols, where the switching signal of each agent is different. Both centralised and decentralised event‐triggered protocols are proposed for the switched non‐linear multi‐agent systems. The results are then extended to the self‐triggered control cases, respectively. It is proved that the practical leader–following consensus can be achieved by designed protocols. Moreover, the feasibility of the proposed control schemes is further verified by excluding the Zeno behaviour. Finally, a numerical example is given to illustrate the effectiveness of the proposed method.