Observer-Based Dynamic Event-Triggered Adaptive Control of Distributed Networked Systems With Application to Ground Vehicles

In this article, a distributed observer- and event-based practical consensus control for networked systems subject to adaptive nonlinear couplings is investigated. Considering that the node's state is not always measurable and the finite communication bandwidth exists in engineering systems, two distributed adaptive event-triggered control protocols subject to nonlinear couplings are proposed under observer-based dynamic output feedback. Then, distributed dynamic event-triggered control policies corresponding to two abovementioned adaptive controllers are proposed, respectively. The proposed nonlinear coupled event-triggered control schemes not only overcome continuous communication among nodes, but also relax the requirement of relying on global information for achieving a distributed practical consensus. Finally, the theoretical analysis is verified through a team of practical networked ground vehicles implemented through MATLAB/Simulink and robot operating systems environment.