Event-Triggered Consensus Control For Nonlinear Multi-Agent Systems

In recent years,multi-agent systems(MAS)have been extensively investigated due to their widely applications,and the MAS control theories also became the popular research direction.The key issue of the cooperative control problem of is consensus.For the consensus problem of multi agents systems,the main objective is to design distributed controller such that the agents reach the same agreement under the communication topology.In fact,each agent usually has limited power for communication and controller updates,so the event-triggered control strategy is proposed for MAS to reducing the consumption of resources.Based on the event-triggered strategy,this paper investigates the high-order nonlinear MAS consensus problem and the main researches are as follows.Firstly,this paper investigates the event-based leader-following consensus problem for a class of uncertain nonlinear multi-agent systems under a fixed directed graph.A novel distributed event-triggered control protocol is proposed for this system,which enables the state variables of all followers to consensus with those of leader asymptotically.By using the adaptive method,the unknown Lipschitz growth parameter is estimated asymptotically.Furthermore,to reduce the numbers of controller updates,an event-triggered mechanism with the novel dynamic variable is constructed,and it can guarantee that the Zeno-behavior no longer happen.Secondly,the consensus problem for high-order nonlinear MAS with state unmeasured has been solved.By introducing the state-observers based on the system output,a novel distributed event-triggered control protocol is proposed,which enables the state variables of all followers to consensus with those of leader asymptotically.Then,only based on the neighbors' triggering time information,a novel event-triggered mechanism is proposed,and it can reduce the frequency of communication effectively,furthermore,it is proved that the system have no Zeno-behavior with the proposed mechanism.Finally,some simulation examples are presented to demonstrate the effectiveness of the proposed theoretical results.