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Guo et al. Intell Robot 2023;3(4):596-613 I http://dx.doi.org/10.20517/ir.2023.32 Page 15 of 18

Figure 4. The evolution of k k.

Figure 5. The evolution of position error after encountering the emergency situation.

Simulation results show that the system can reach consensus under the event-triggered protocol proposed in
this paper. The variation curve of k k is shown in Figure 4.

The evolution of k k indicates that the event-trigger frequency of the system is less than the set sampling
frequency (100 Hz). According to Remark 5, the error k k accumulates continuously within two adjacent
event-triggered moments until reaching the threshold (33) and entering the next triggering moment (the local
maximum points of k k in Figure 4).

Figure 5, Figure 6, and Figure 7 show the simulation results of the UAV group encounter the emergency situa-
tion.

The simulation results above demonstrate the effectiveness of the proposed protocol in this paper with com-
munication faults, even in case of unexpected situations. The protocol proposed in this paper has a broader