Designing adaptive continuous event-triggered consensus protocol for nonlinear multi-agent systems with a nonautonomous leader

Xin Wang, DongSheng Yang, Weihua Li and Jia Qin

Applied Mathematics and Computation, 2024, vol. 479, issue C

Abstract: This article investigates the leader-follower consensus (LFC) issue for a class of Lipschitz-type nonlinear multi-agent systems (NMASs) that include one leader and multiple followers. To enable the leader to denote a flexible noncooperative reference trajectory, it is considered that the leader's control input (LCI) exists and cannot be obtained by other followers. A novel robust distributed adaptive continuous event-triggered control protocol is developed. Through rigorous analysis, it is shown that under this control protocol, the NMASs can reach LFC and the Zeno behavior is not exhibited. Compared to existing research works, the main merits of this control protocol are as follows: 1) It is chattering-free while can completely eliminate the adverse effects brought by the LCI; 2) The communication traffic between agents is lower; 3) It can be executed in a fully distributed way (i.e., no global information is required for the design process of this control protocol). Finally, the effectiveness of the developed control protocol is validated through an example.

Keywords: Leader-follower consensus (LFC); Nonlinear multi-agent systems (NMASs); Nonautonomous leader; Adaptive control; Event-triggered control (search for similar items in EconPapers)
Date: 2024
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Persistent link: https://EconPapers.repec.org/RePEc:eee:apmaco:v:479:y:2024:i:c:s0096300324002960

DOI: 10.1016/j.amc.2024.128835

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