Event-based consensus of hybrid multi-agent systems under fixed and switching topologies

In this paper, consensus in switched multi-agent systems over fixed and switching topologies is considered. First, an event-triggered consensus protocol is designed for the first order dynamics using SIA matrices in jointly weakly connected networks. Then, a Lyapunov-based event condition is proposed for the general linear dynamics to assure consensus. Finally, two numerical examples are given to show the effectiveness of proposed methods.