Distributed Estimator-Based Event-Triggered Neuro-Adaptive Control for Leader-Follower Consensus of Strict-Feedback Nonlinear Multiagent Systems.

Abstract

This article investigates the leader-follower consensus problem for strict-feedback nonlinear multiagent systems under a dual-terminal event-triggered mechanism. Compared with the existing event-triggered recursive consensus control design, the primary contribution of this article is the development of a distributed estimator-based event-triggered neuro-adaptive consensus control methodology. In particular, by introducing a dynamic event-triggered communication mechanism without continuous monitoring neighbors' information, a novel distributed event-triggered estimator in chain form is constructed to provide the leader's information to the followers. Subsequently, the distributed estimator is utilized to consensus control via backstepping design. To further decrease information transmission, a neuro-adaptive control and an event-triggered mechanism setting on the control channel are codesigned via the function approximate approach. A theoretical analysis shows that all the closed-loop signals are bounded under the developed control methodology, and the estimation of the tracking error asymptotically converges to zero, i.e., the leader-follower consensus is guaranteed. Finally, simulation studies and comparisons are conducted to verify the effectiveness of the proposed control method.