Distributed Adaptive Event‐Triggered Control for Leader‐Following Consensus of Multi‐Agent Systems

Abstract

This paper studies the leader-following consensus problem for Lipschitz nonlinear multi-agent systems using novel event-triggered controllers. A distributed adaptive law is introduced for the event-based control strategy design such that the proposed controllers are independent of system parameters and only use the relative states of neighboring agents, and hence are fully distributed. Due to the introduction of an event-triggered control scheme, the controller of the agent is only triggered at it's own event times, and thus reduces the amount of communication between controller and actuator and lowers the frequency of controller updates in practice. Based on a quadratic Lyapunov function, the event condition which uses only neighbor information and local computation at trigger instants is established. Infinite triggers within a finite time are also verified to be impossible. The effectiveness of the theoretical results are illustrated through simulation examples.

Distributed adaptive consensus tracking for uncertain high‐order nonlinear multiagent systems with event‐triggered communication

“…Yang et al 23 developed event‐triggered and self‐triggered adaptive leaderless consensus control algorithms for uncertain second‐order nonlinear systems. Apart from these results, Yin et al 24 and You et al 25 also investigated the event‐triggered adaptive consensus problem. Nevertheless, to the best of our knowledge, few results on distributed adaptive output consensus tracking for more general uncertain high‐order nonlinear systems with event‐triggered communication are established.…”

Distributed Event‐Triggered Consensus for Multiple Underactuated Systems Under Markovian Switching Topologies

“…To some extent, a single agent is not suitable for complex tasks, so the cooperation of multiple agents is the best solution . Furthermore, along with a rapid development of consensus control for various multi‐agent systems, such as linear systems , nonlinear systems , high‐order systems , and Euler–Lagrange systems , both the size and complexity of a system are increased substantially. However, few works have considered the consensus of multiple underactuated systems .…”

Robust Stabilization and H∞ Control of Cooperative Driving System with Time Delay in Variable Speed‐Limited Area from Cyber‐Physical Perspective

“…A nonlinear car‐following model with varying reaction‐time delay was proposed and provided the sufficient condition for the existence of the state feedback control strategy . Numerous works on the analysis of cooperative traffic systems are considered as leader‐following consensus of multi‐agent systems , which focused on communication uncertainties (e.g., transmission delay, packet dropouts, and quantization error) and parameter uncertainties of vehicle dynamical system . Other control methods also attract researchers' attention, such as sliding mode control and adaptive tracking control .…”