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    This study introduces a novel event-triggered control for multiagent systems, reducing communication load. The method ensures smooth transitions and eliminates Zeno behavior in leader-following cluster consensus.

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    Area of Science:

    • Control Systems Engineering
    • Networked Systems
    • Robotics

    Background:

    • Achieving consensus in multiagent systems (MASs) is crucial for coordinated behavior.
    • Existing methods often incur high communication costs.
    • Heterogeneous systems and directed topologies present unique challenges.

    Purpose of the Study:

    • To develop an event-triggered (ET) control mechanism for leader-following cluster consensus in linear heterogeneous MASs.
    • To reduce communication load by optimizing data transmission.
    • To address cooperative and competitive interactions within the system.

    Main Methods:

    • Design of a novel distributed ET control mechanism with a variable threshold function.
    • Development of a relative-state feedback-based cluster consensus control protocol.
    • Application of Lyapunov stability theory for convergence analysis.
    • Extension to ET observer-based output feedback consensus.

    Main Results:

    • The proposed ET control significantly reduces communication load.
    • The variable threshold function ensures smooth triggering and avoids Zeno behavior.
    • The control protocol effectively achieves leader-following cluster consensus under directed topologies.
    • Theoretical results are validated through illustrative examples.

    Conclusions:

    • The novel ET control strategy is effective for leader-following cluster consensus in heterogeneous MASs.
    • The approach minimizes communication overhead while ensuring system stability.
    • The method successfully handles complex interaction behaviors and eliminates Zeno phenomena.