Adaptive Event-Triggered Consensus Tracking Control Schemes for Uncertain Constrained Nonlinear Multi-Agent Systems

The majority of the results on constrained nonlinear multi-agent systems (MASs) control focused on output or state constraints without considering the saving of communication resources. In this paper, for a class of uncertain nonlinear MASs, we first present a new adaptive bounded consensus tracking control scheme in which the asymmetric and full-state constraints are jointly synthesized with a switching threshold event-triggered strategy, such that the communication resources are effectively utilized. The key to accomplishing the asymmetric and full-state constraints is that a kind of improved $tan$ -type barrier Lyapunov functions are constructed. The controller constructed for each agent by the switching threshold event-triggered strategy guarantees that the asymmetric and full-state constraints are not violated and the output of each agent can track the leader's trajectory with an adjustable bounded tracking error. Furthermore, to achieve the asymptotic consensus tracking control, we give another kind of novel $tan$ -type barrier Lyapunov functions to design the desired controller for each agent. A simulation example of five single-link robots is proposed to illustrate the effectiveness of our control scheme.