Distributed event-triggered tracking control of multi-agent systems with active leader

Event-triggered control is an effective protocol to design distributed control of multi-agent systems with the limited resources. In this paper, we consider a multi-agent tracking problem for a linear active leader based on event-triggered control. The state of the leader keeps changing and may not be measured. To estimate the state such a leader individually, a neighbor-based local controller together with a neighbor-based state-estimation rule is given for each autonomous agent, and the communication of the agents under consideration is event-driven. Then we prove that, with a constructed common Lyapunov function for switching topology, each agent can track the active leader with unmeasurable states.