Search

This paper addresses the problem of leader-follower consensus for a class of nonlinear multi-agent systems with Lipschitz-type dynamics and a directed communication topology. First, in order to reduce communication frequency among followers, an output-based event-triggered control strategy is proposed for leader-following consensus. Second, neural-network-based observers are designed to reconstruct those immeasurable information of follower agents. Third, instead of continuously monitoring follower agents’ measurements, a distributed self-triggered control strategy is put forward, which is based only on each agent’s local estimation and its previous triggered instants. Furthermore, it is proved theoretically that the consensus tracking errors are ultimately bounded and the Zeno behavior is definitely excluded. Finally, simulation results are given to show the effectiveness and advantage of the proposed results. [ABSTRACT FROM AUTHOR]

In this paper, we consider a leader-follower output consensus problem for a class of uncertain heterogeneous non-affine pure-feedback multi-agent systems (MASs) in the presence of time-delay items and input saturation restrictions under switching directed topologies. A distributed adaptive control scheme is constructed by combining Lyapunov–Krasovskii functionals, backstepping methods, neural networks (NNs), auxiliary systems, graph theory, the mean value theorem and the implicit function theory along with the dynamic surface control (DSC) technique. The key advantages of the designed control approach are that there is no requirement of precise knowledge about uncertain dynamics and time-delay items of individual agents and the computational burden can drastically be reduced by employing the DSC technique. Also, norms of unknown weight of neural networks are estimated online instead of weight vectors themselves. In theory, it can be proven that the output signals of follower agents can synchronize with the leader’s and all signals in the closed-loop system are cooperatively semiglobally uniformly ultimately bounded (CSUUB) by suitable choice of design parameters. Two simulation examples are presented to demonstrate the effectiveness of the proposed strategy. [ABSTRACT FROM AUTHOR]

In this paper, we study the finite-time distributed event-triggered consensus control for multi-agent systems. The controllers and the events are designed in a distributed manner, based only on local information. Compared with conventional asymptotic consensus, finite time consensus can reach consensus faster and have better disturbance rejection properties. Thus, we propose a new nonlinear distributed control protocol to achieve finite-time consensus. Moreover, in order to realize the consensus control for multi-agent systems, only the communication between the agent and its local neighbors is needed, therefore, the designed control is essentially distributed. Two sufficient conditions are proposed to reach finite-time consensus for multi-agent systems with fixed and switching network topologies, respectively. Finally, two simulation examples are presented to demonstrate the effectiveness of the theoretical results. [ABSTRACT FROM AUTHOR]