Adaptive event-triggered leader-following consensus control for multi-agent systems with external disturbances

Fig. b presents the observation error of the follower.Fig. c presents the observed values of the disturbance suffered by the followers.Fig. d presents the observation error of the disturbance,Fig. e presents the position error between the follower and the leader.Fig. f shows the trigger time series for each follower.Fig. g shows the control inputs of the controller