DISTRIBUTED EVENT-TRIGGERED CONSENSUS CONTROL FOR NONLINEAR PURE-FEEDBACK MULTI-AGENT SYSTEMS

Yuehui Ji, Hailiang Zhou, and Qun Zong

Keywords

Multi-agent systems, distributed control, event-triggered control,parametric pure-feedback system

Abstract

The distributed consensus control in event-triggered mechanism is proposed for nonlinear pure-feedback multi-agent systems subjected to parametric uncertainty. Based on back-stepping technology, the consensus controller is investigated to guarantee that the consensus tracking errors of the closed-loop system are semi-globally ultimately bounded. For each follower, the controller and parameter estimator are executed only when the desired control specifications cannot be ensured, drastically reducing the computational burden and the transmission cost. The minimal inter-sample time is proved to be bound with a positive lower constant, consequently the Zeno phenomenon is avoided. The stability property of closed-loop system is rigorously proved by the Lyapunov theorem and impulsive dynamical systems tools. Finally, the simulation examples are introduced to validate the effectiveness of the consensus control scheme.

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