Event‐triggered tracking control of heterogeneous multiagent systems based on two kinds of observers with asymmetric delay

Abstract

Summary In this paper, we consider the output tracking problem of a multiagent system with asymmetric delays and a switching topology. The multiagent system contains a leader and some followers, the dynamics of which are heterogeneous, and the output of the leader is available to only a subset of followers. We propose two types of observers to estimate states of the leader and reduce communication cost. For the informed followers that can directly obtain information of the leader, a common observer is given to reduce the complexity of observer design. Meanwhile, for the rest of the followers, a distributed observer with asymmetric communication delays for each follower is designed. The observer error system is transformed into a switched system. Through designing the average dwell‐time switching law and constructing multiple Lyapunov functionals, some sufficient conditions for stability of the observer error system are obtained. Furthermore, a distributed controller for followers based on the relative information is developed to track the output of the leader. Finally, an example is given to validate the effectiveness of the proposed results.

Event‐driven adaptive near‐optimal tracking control of the robot in aircraft skin inspection

“…Let Assumptions 1-6 be valid. Consider that the system (25) with the event-driven optimal control policy ( 13) and the NN observer (26), the observer errorx, the estimated weight errorsW o andṼ o , and the total disturbance compensating error̃o are UUB if the NN weights and the disturbance compensation are updated by: Case 1: When an event is not triggered, for t ∈ [s j − 1 , s j ), we havėŴ…”

“…All the aforementioned literary works are based on periodic sampling, which is generally time‐consuming. In order to reduce communication and computational costs, various event‐driven control mechanisms have been proposed 23‐32 . Unlike in the time‐driven control, the sampling of system states in the event‐driven control depends on a trigger threshold.…”

“…In order to reduce communication and computational costs, various event-driven control mechanisms have been proposed. [23][24][25][26][27][28][29][30][31][32] Unlike in the time-driven control, the sampling of system states in the event-driven control depends on a trigger threshold. Guo et al 23 provided two different event-triggered strategies to solve the problem of feedback control in uncertain nonlinear systems.…”

Distributed event‐triggered tracking control with a dynamic leader for multiple Euler‐Lagrange systems under directed networks

“…Hence, this method plays a vital role in saving sensor energy, reducing communication frequency, alleviating computation burden, and avoiding continuous controller updates. Numerous results on event‐based tracking control mainly consider general linear systems, e.g., References . However, those works cannot be applied to the Euler‐Lagrange system directly due to its inherent nonlinearity and parameter uncertainties, and therefore only limited results are available on the event‐based distributed cooperative control for multiple Euler‐Lagrange systems.…”