Adaptive Leaderless Consensus for Uncertain High-Order Nonlinear Multiagent Systems With Event-Triggered Communication

In this article, we develop a new adaptive event‐triggered asymptotic control scheme for strict‐feedback systems with fast time‐varying parameters. To deal with time‐varying parameters with unknown variation boundaries in the feedback path and the input path, we construct three adaptive laws for parameter estimation, two for the uncertain parameters in the feedback path and one for the uncertain parameters in the input path. In particular, two sets of tuning functions are introduced to avoid over‐parametrization. Additionally, an event‐triggering mechanism is embedded in this adaptive control framework to reduce the data transmission from the controller to the actuator. We also introduce a soft sign function to handle the perturbations caused by sampling errors to achieve asymptotic stability and avoid the so‐called parameter drift. The stability analysis shows that the closed‐loop system is globally uniformly asymptotically stable and the Zeno behavior can be excluded. Simulation results verify the effectiveness and performance of the proposed adaptive scheme.

“…where k i > 0, and 𝜔 i is defined in (5), and v i (x i , θ, δ𝜃 ) is a nonlinear damping term to be designed in (44). Then, ( 22), (23) together with (21), implies that…”

Section: Lyapunov Design By Congealed Variables and Tuning Functionsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Adaptive event‐triggered control for strict‐feedback systems With time‐varying parameters

Tan,

Wu,

Liu

2023

“…Remark As we know, the formation control problem of multiagent systems can be reduced to be a basic consensus problem by setting the formation variable as zero. In our previous research work Long et al, 31 the leaderless consensus problem for a class of uncertain high‐order nonlinear systems with event‐triggered communication has been investigated under a balanced graph condition. In this article, we generalize our previous works in the following aspects: (i) the communication topology is relaxed to be a more general strongly connected graph; to perform this extension, the key technique is discussed in Remark 5.…”

Section: Stability and Consensus Analysismentioning

confidence: 99%

“…In this article, we generalize our previous works in the following aspects: (i) the communication topology is relaxed to be a more general strongly connected graph; to perform this extension, the key technique is discussed in Remark 5. (ii) A dynamic triggering condition is designed, which contributes to further reduction of communication burden compared with a static triggering condition like that in Long et al; 31 (iii) a more general time‐varying formation control problem is considered in this article.…”

Section: Stability and Consensus Analysismentioning

confidence: 99%

Adaptive time‐varying formation control of uncertain Euler–Lagrange systems with event‐triggered communication

Long

Wang

Liu

et al. 2021

Self Cite

This article is concerned with time-varying formation control of networked Euler-Lagrange systems in the presence of unknown system parameters and event-triggered communication. Under a directed graph condition, a novel distributed adaptive formation control scheme is proposed. In order to reduce the communication burden among connected agents, a dynamic triggering condition is designed without the need of continuous monitoring of neighboring states. Zeno behavior that may exist in each agent can be rigorously excluded by introducing a dynamic variable into the triggering condition. It is shown that with the proposed control scheme, all the closed-loop signals are uniformly bounded and all the agents' generalized coordinates can form a time-varying formation configuration. The effectiveness of the proposed control scheme is validated with simulation results.

Fully distributed adaptive asymptotical consensus tracking control of uncertain high‐order nonlinear multi‐agent systems with event‐triggered communication

Wu,

Liu,

Long

et al. 2024

Self Cite

In this article, the distributed adaptive asymptotical consensus tracking control is considered for a class of high‐order nonlinear multi‐agent systems with matched unknown parameters under the event‐triggered communication mechanism. The controllers, adaptive laws and triggering conditions are presented under directed topology with a spanning tree, relieving communication burden among the connected agents since continuous monitoring of in‐neighbors is no longer needed. To handle the cross‐coupling term associated with asymmetric Laplacian matrix and unknown parameters of all agents when the candidate Lyapunov function is defined in terms of local consensus errors, adaptive immersion and invariance control technique is adopted. Adaptive estimators are also designed to estimate the constants related to global information, with which the proposed control scheme is fully distributed. It is shown that all closed‐loop system signals are globally uniformly bounded and all agents can track the reference signal asymptotically while ruling out Zeno behavior though a subset of the agents cannot have direct access to the reference signal information. A numerical example is illustrated to show the effectiveness of the proposed control protocol.