Xiao, Z.Xiao, Z.Tao, J.Liu, C.Shi, P.Rudas, I.J.2024-11-192024-11-192025IEEE Transactions on Automation Science and Engineering, 2025; 22:5781-57911042-296X1042-296Xhttps://hdl.handle.net/2440/143301Date of Publication: 23 July 2024This paper is interested in the event-triggered leader-following consensus problem for discrete-time multi-agent systems subject to nonlinear dynamic topology. Considering that the on-board resources of each agent are generally limited, a novel adaptive event-triggered strategy is presented in this paper through establishing a nonlinear transformation law of consensus errors, which provides an effective way to weaken the impact of small fluctuations on triggering behaviors after the error systems converge. Then, an interval type-2 fuzzy model is introduced to describe the nonlinear dynamic topology where the dynamic characteristics contain both nonlinear time-varying law and uncertain parameter. In view of the discrepancies in adjacency relationships between different agents, the heterogeneous fuzzy-dependent controllers are employed to further decrease the consensus error. Meanwhile, some sufficient conditions are deduced to solve the designed controllers while ensuring that the consensus of multi-agent systems can be achieved with desired H∞ performance. Ultimately, advantages of the presented leader-following control strategy are illustrated by two examples.en© 2024 IEEEMulti-agent systems; adaptive event-triggered strategy; nonlinear dynamic topology; heterogeneous controllerJournal article10.1109/TASE.2024.3430895704035Shi, P. [0000-0001-6295-0405] [0000-0001-8218-586X] [0000-0002-0864-552X] [0000-0002-1358-2367] [0000-0002-5312-5435]