Abstract
AbstractThis article investigates the consensus problem for uncertain nonlinear multi‐agent systems (MASs) with asymmetric output constraint. Different from BLF‐based constraint consensus tracking control, a novel approach based on nonlinear state‐dependent function is proposed to solve the asymmetric output constraint, which need not convert output constraint into tracking error bound. First‐order sliding mode differentiator is incorporated into each step of backstepping control design to reduce computation burden. Further, in combination of proposed event‐triggered mechanism based on time‐varying threshold, a distributed fuzzy adaptive event‐triggered finite‐time consensus method is developed. It can ensure that the consensus tracking error tends to a small neighbor in a finite time and the asymmetric output constraint of each subsystem is not violated. Two simulations are given to demonstrate the effectiveness of control method.
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