  We consider the distributed leader-follower consensus problem with
event-triggered communications. The system under consideration is a non-linear
input-affine multi agent system. The agents are assumed to have identical
dynamics structure with uncertain parameters and satisfying an incremental
stabilisability condition. A distributed control law is proposed which achieves
consensus based on two novel Communication Triggering Conditions (CTCs): the
first one to achieve an asymptotic consensus but without any guarantees on Zeno
behaviour and the second one to exclude Zeno behaviour but with practical
consensus.

Optimization and Control