Event-based leader-following consensus for uncertain non-linear multiagent systems

被引:4
|
作者
Hua, Changchun [1 ]
Li, Zhijie [1 ]
Li, Kuo [1 ]
Guan, Xinping [2 ]
机构
[1] Yanshan Univ, Inst Elect Engn, Qinhuangdao 066004, Hebei, Peoples R China
[2] Shanghai Jiao Tong Univ, Sch Elect Informat & Elect Engn, Shanghai 200240, Peoples R China
来源
IET CONTROL THEORY AND APPLICATIONS | 2020年 / 14卷 / 04期
基金
中国国家自然科学基金; 国家重点研发计划;
关键词
linear systems; Lyapunov methods; multi-robot systems; uncertain systems; nonlinear control systems; control system synthesis; distributed control; asymptotic stability; mobile robots; position control; unknown Lipschitz growth parameters; dynamic event-triggered control strategy; event-triggered method; distributed consensus protocol; event-based leader-following consensus; nonlinear multiagent systems; distributed leader; nonlinear terms; conservative Lipschitz condition; ADAPTIVE-CONTROL; TRACKING CONTROL; TRIGGERED CONSENSUS; OUTPUT REGULATION; SYNCHRONIZATION; COORDINATION; NETWORKS;
D O I
10.1049/iet-cta.2019.0573
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This study investigates a distributed leader-following consensus problem for a class of high-order uncertain non-linear multiagent systems. For the uncertain non-linear terms in the systems, the authors propose a less conservative Lipschitz condition, which the Lipschitz growth parameters are unknown. By using the adaptive method, the unknown Lipschitz growth parameters are estimated asymptotically. Furthermore, to lower the frequency of controller updates, a new dynamic event-triggered control strategy with the novel dynamic variable is constructed based on the event-triggered method. The distributed consensus protocol is proposed based only on the relative state information of neighbouring agents and the protocol can ensure that the Zeno-behaviour no longer occurred. Based on the Lyapunov stability theory, it is strictly proved that the state variables of the followers can track asymptotically those of the leader. Finally, a simulation example is presented to demonstrate the effectiveness of the proposed theoretical results.
引用
收藏
页码:577 / 583
页数:7
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