Event-triggered leader-following consensus of multiple mechanical systems with switched dynamics

This paper investigates the event-triggered leader-following consensus problem for a class of multiple mechanical systems with switched dynamics. Based on the graph theory, Lyapunov stability theory, backstepping technique and event-triggered control theory, an event-triggered protocol is proposed for the considered multiple mechanical systems. It is proved that the practical leader-following consensus can be achieved by the proposed protocol. Meanwhile, to exclude the Zeno behaviour, a positive lower bound of inter-event intervals is given. Finally, we provide a numerical simulation to illustrate the effectiveness of the given protocol.