By designing a novel combined event-triggered control technique, this
article analytically studies the distributed leader-following consensus
problem of nonlinear fractional chaotic multi-agent systems. First, a
novel combined event-triggered mechanism which takes into account both
the relative error and the absolute error of the samples is proposed,
under which each follower agent executes control update independently at
its own event times. Next, a fully distributed event-triggered consensus
protocol is designed and the sufficient conditions of consensus are
attained. Finally, compared with other event-triggered mechanisms, the
simulation experiments illustrate that the event-based consensus
protocol proposed in this article can effectively reduce the frequency
of actuator data update while ensuring desired consensus performance.