Flocking of Multi-Agent System with Nonlinear Dynamics via Distributed Event-Triggered Control

In this paper, a distributed event-triggered control strategy is proposed to investigate aflocking problem in a multi-agent system with Lipschitz nonlinear dynamics, where triggeringconditions are proposed to determine the instants to update the controller. A distributedevent-triggered control law with bounded action function is proposed for free flocking. It is provedthat the designed event-triggered controller ensures a group of agents reach stable flocking motionwhile preserving connectivity of the communication network. Lastly, simulations are provided toverify the effectiveness of the theoretical results.