Abstract

In this note, robust consensus for a class of nonlinear secondorder multi-agent systems with uncertainties is investigated from an event-triggered control approach. An event-triggered distributed control protocol is designed to achieve semi-global robust leaderless consensus for directed graphs. To guarantee the feasibility of the proposed scheme, the event-based consensus is converted to an event-based stabilization for analysis. Zeno behavior is avoided under the proposed event-triggered mechanism. The effectiveness of the proposed event-triggered scheme is demonstrated by numerical simulations.