Leader-following consensus of high-order multiagent systems under intermittent event-triggered control and intermittent self-triggered control

This paper investigates the achievement of leader-following consensus for high-order linear multiagent systems with constrained control input under intermittent event-triggered and self-triggered control. Therein, the novel intermittent event-triggered and self-triggered control, which can automatically exclude Zeno behaviour, are proposed for the first time in the consensus problem of multiagent systems with constrained control input. Notably, the aforementioned controls are both designed in a fully distributed manner throughout all undirected communication graphs. Then, this paper employs Lyapunov method to provide sufficient conditions for leader-following consensus of multiagent systems. Subsequently, the theoretical results are utilised in multi-robot formation. Finally, a numerical simulation is provided to demonstrate the effectiveness of the theoretical results.