Abstract
This paper addresses the practical tracking consensus problem for first-orderheterogeneous nonlinear multi-agent systems in presence of external disturbances under directed graphs. Agents with limited communication capability interact with each other through a cloud repository, where the information exchange is asynchronous and indirect. The system model is more general than the ones in existing results, moreover, locally Lipschitz nonlinearities and adaptive control schemes are taken into account. It is proven that under the designed self-triggered protocol, agents can track a virtual leader with bounded error and Zeno behaviour is excluded for real implementation. Finally, a numerical simulation demonstrates the effectiveness of the theoretical results.
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