Tracking consensus for uncertain nonlinear multi‐agent systems under cloud‐based event‐triggered coordination

Abstract

This paper considers the cloud-based event-triggered coordination problem of uncertain high-order nonlinear multi-agent systems. The communication among agents is realized by indirect and asynchronous access to a shared cloud database. A self-triggered extended state observer (ESO) is first designed to estimate the total uncertainty. Based on the output of the ESO, an event-triggered controller is proposed. It is proved that under the proposed output feedback controller, the multi-agent system can track a virtual leader. We also show that Zeno behavior from output sampling or controller update will never happen. Finally, a numerical example and a vehicle platoon example are provided to corroborate the obtained theoretical results. K E Y W O R D Scloud-based control, multi-agent systems, output feedback control, self-triggered extended state observer, uncertain high-order nonlinear systems