Observer-based leader-following tracking control under both fixed and switching topologies

Event-triggered observer-based tracking control for leader-follower multi-agent systems

“…In Figure 5, the blue line shows the evolution of ê , which stays below the threshold given by the triggering condition (18). The red line represents the function λmin 2σ…”

“…(6), the stack vector is e(t) = q(t k ) − q(t), t ∈ [t k , t k+1 ), then e(t k ) = 0. From the triggering condition (18), one has ê ≤ λmin 2…”

“…Firstly, for the centralized event-triggered control, choose K l = K + A T l and K = 13.0890I 2 in Theorem 3.1, then by the feedback control (7) and the observer (8) with the event triggering condition (18), the tracking problem is solved. The simulation results are shown in Figure 2 and Figure 3 with the initial values x l (0) = [1,2] T , x 1 (0) = [2,3] T , x 2 (0) = [6,4] T ,…”

“…The contributions of this work are three-fold: 1) To track the leader, a distributed observer is first constructed for each follower to estimate the control input of the leader, based on which a distributed feedback controller is designed. 2) Compared with our previous work [18] on which this paper is based, significant improvement is that this paper focuses on the event-triggered control. Both the observer and the controller for each follower are in an event-triggered way in the sense that they are updated when the triggering condition is satisfied.…”

“…Following our previous work [18], in this paper, we consider the tracking problem for a class of leader-follower multi-agent systems. Different from the existing results, in this paper, the control input u l = A l x l + b l of the leader is not known to all the followers and A l can be of any form, which allows the state variables of the leader coupled.…”