Dynamic event‐triggered leader‐following consensus of nonlinear multi‐agent systems with measurement noises

Abstract

This paper investigates a leader-following consensus problem for nonlinear multi-agent systems (MASs) with measurement noises under fixed and Markovian switching topologies, respectively. Noises are considered when each agent measures the states of its neighbours, where intensities of noises are vector functions of relative states. To alleviate the utilization of communication and computation resources, a dynamic event-triggered consensus protocol is designed, where the coupling strength is restricted in a given interval. By using the stochastic stability theorem, it is shown that leader-following consensus is achieved under fixed topology, where an estimation of the convergence rate is given. Moreover, the problem is studied under switching topologies subjecting to the Markovian process, which is applicable to practical situations with a time-varying communication environment. Finally, simulation examples are given to show the correctness of the proposed results.

Adaptive Neural Consensus of Unknown Non-Linear Multi-Agent Systems with Communication Noises under Markov Switching Topologies

“…Remark 3. In [30,32,33], the nonlinear dynamics usually are assumed to satisfy the Lipschitz condition, || f (x i ) − f (x j )|| ≤ L||x i − x j ||, which means that the Lipschitz constant is known, and the conditions for achieving consensus contain the Lipschitz constant L. However, because the nonlinear functions f i (x i (t)) are unknown, namely, the Lipschitz constant is also unknown, the protocol used in these references cannot be applied for system (1). So the RBFNNs is adopted to approximate h i (x i (t)) in this paper because of its excellent approximation ability.…”

“…However, because of the complexity and uncertainty of the actual environment, most of the practical systems are nonlinear and even the dynamics are unknown. Although there has been research concerning the consensus control of nonlinear multi-agent systems with communications noises, such as [30][31][32][33], the noises considered in these papers are multiplicative noise, the non-linear parts of the systems and the coefficient of the noises are usually assumed to satisfy the Lipschitz conditions f (x i ) − f (x j ) ≤ L||x i − x j ||, and the Lipschitz L constant is known, which means the information on the non-linear dynamic is known. And in references [34], although the additive noises are considered, the Lipschitz constant is still essential knowledge before the non-linear dynamic can be established.…”

Fixed-Time Adaptive Event-Triggered Guaranteed Performance Tracking Control of Nonholonomic Mobile Robots under Asymmetric State Constraints

“…In actual network control, limited network bandwidth should also be considered, as it may deteriorate the control performance, because high-frequency data transmission would make the communication channel congested. Compared with a classical time-triggered mechanism, an event-triggered mechanism (ETM) was proposed to preserve the communication bandwidth, which has attracted the attention of numerous scholars [28][29][30][31]. In Ref.…”

“…In Ref. [28], a dynamic ETM consensus control protocol for multi-agent systems was proposed to achieve consensus asymptotically and make the triggered instants more reasonable. Ref.…”