针对网络连接下具有非线性项的多智能体的一致性问题,提出了一种事件驱动控制方案.通过考虑网络拓扑结构为固定的情形,设计了基于事件驱动的一致性协议,并给出多智能体一致性的充分条件.利用李亚普诺夫稳定性理论,实现了网络中的非线性多智能体趋向于所给定的目标状态.同时把相应的理论结果推广到具有切换拓扑结构的网络情形.仿真结果验证了方法的有效性. Aiming at the consistency problem of multi-agent with nonlinear item under network connection, an event-driven control scheme is proposed. By considering the topology of the network as a fixed case, an event-driven consensus protocol is designed and more The sufficient condition for the consistency of agents.Using Lyapunov stability theory, the nonlinear multi-agent in the network tends to the given target state.At the same time, the corresponding theoretical results are generalized to the network with switching topology The simulation results verify the effectiveness of the method.