Observer-based group consensus tracking of hybrid multi-agent systems under adaptive event-triggered mechanism

The group consensus tracking of multi-agent systems has been extensively applied in the coordination of unmanned system formations. However, existing methods encounter difficulties in group consensus tracking regarding the group division for the observation cooperative correction term, the enhancement of the self-adjustment ability of tracking agents and the further optimization of communication resources. Therefore, the problem of observer-based group consensus tracking of hybrid multi-agent systems under adaptive event-triggered mechanism is studied. An improved observation strategy with global observation and observation cooperative correction term clustering is proposed. By designing adaptive gain and adaptive event-triggered consensus error, an adaptive group consensus tracking control protocol is presented. To optimize the application of communication resources, an adaptive event-triggered mechanism is designed, and the occurrence of Zeno behavior is fundamentally excluded. Lyapunov method and Barbalat's lemma are used to prove that the system can attain group consensus tracking. Finally, the efficacy of the research results is validated by a simulation example and comparative experiments.