Abstract: This paper studies the dynamic event-triggered leader-follower consensus of nonlinear multi-agent systems (MASs) under directed weighted graph containing a directed spanning tree, and also considers the effects of disturbances and leader of non-zero control inputs in the system. Firstly, a novel distributed control protocol is designed for uncertain disturbances and leader of non-zero control inputs in MASs. Secondly, a novel dynamic event-triggered control ( DETC) strategy is proposed, which eliminates the need for continuous communication between agents and reduces communication resources between agents. By introducing dynamic thresholds, the complexity of excluding Zeno behavior within the system is reduced. Finally, the effectiveness of the proposed theory is validated through numerical simulation.

Key words: nonlinear multi-agent systems (MASs), leader-follower consensus, dynamic event-triggered control (DETC), leader of non-zero control input