Search

[Display omitted] • A noval event-triggered control strategy is developed by integrating backstepping method and emulation method into the event-triggered control study the distributed tracking of nonlinear MASs. Compared with the single-agent system, the control design in this paper is more complicated since that its's necessary to consider information interaction between each agent. • The event-triggered control strategy saves more communication and computing resources compared with the periodic sampled-data control schemes. In addition, The introduction of event-triggering mechanism, on the one hand, leads to complex discontinuity of the system, which renders the analysis and synthesis of the MASs more difficult than MASs with continuous controllers. • The dynamic of the i th follower discussed in this paper contains N i integrators and nonlinearities, which is more general and more complex than linear MASs, and first-order and second-order MASs. The existence of nonlinear functions makes the design and construction process of event-triggered controller more complicated. This paper investigates the problem of distributed output tracking for nonlinear multi-agent systems via event-triggered control under a directed graph topology inspired by the advantage that event-triggered control can effectively save resources and the wide application of multi-agent systems. By backstepping and emulation method, the event-triggered control strategy is put forward, by which a series of event-triggered controllers and event-triggering mechanisms with absolute or relative threshold are designed. An inevitable problem on event-triggered control, called Zeno phenomenon, is avoided by guaranteeing a positive minimum inter-execution interval. We can see from the event-triggered control strategy that the closed-loop system has a unique solution and tracking error could be adjusted to arbitrarily small while ensuring the boundedness of all states. Finally, a numerical example is shown to verify the validity of the conclusion. [ABSTRACT FROM AUTHOR]

This paper investigates the distributed output tracking problem via linear sampled-data control for a class of uncertain nonlinear multi-agent systems. Specifically, for the case where the graph topology is directed and the leader is the neighbor of only a small portion of followers, by combining the backstepping method with sampled-data method, a series of linear sampled-data controllers are obtained. Stability analysis is performed by using calculus, comparison principle and so on. The main results of this paper are concluded that all the states of the closed-loop system are globally bounded and the output tracking errors can be tuned arbitrarily small. Finally, a numerical example is given to verify the validity of the conclusion. [ABSTRACT FROM AUTHOR]