Event-triggered adaptive consensus control for uncertain multi-agent systems
The consensus problem for general uncertain multi-agent systems with disturbance was investigated.Firstly,the observer of the state and disturbance were established by utilizing the local state information to estimate the state and disturbance,and then the estimated value was used to eliminate the disturbance.Secondly,a dynamic event-triggered mechanism was applied in the process of consistency controller design.By introducing event-triggered mechanism,the controller was only updated when the triggerring conditions were met,and the amount of triggering in the system can be significantly reduced.Finally,a consistent control protocol for uncertain multi-agent systems was constructed.The adaptive dynamic control parameter was introduced,which can be adjusted using an adaptive law related to the event error to avoid dependence on global information.Meanwhile,it is proved through Lyapunov stability theory that the proposed control protocol is stable,and the designed dynamic event-triggered mechanism does not have Zeno behavior.Simulation examples verified the validity of the proposed algorithm.
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维普
