Event-Triggered Adaptive Bipartite Asymptotic Tracking Control Using Intelligent Technique for Stochastic Nonlinear Multiagent Systems

Abstract

The problem of event-triggered based adaptive bipartite asymptotic tracking control for multi-agent stochastic pure-feedback nonlinear systems over sign digraph is considered. The agents classification optimization strategy (ACOS) is presented, which transforms a structurally unbalanced multi-agent topology graph into a structurally balanced multi-agent topology graph. Furthermore, how to deal with the nonaffine structure and unknown control gains for multi-agent stochastic pure-feedback nonlinear systems is a challenging issue for designing controllers. As a result, the mean value theorem is used to transfer the nonaffine systems into the affine systems, and the Nussbaum functions are used to eliminate the influence caused by the unknown control gains. In addition, the intelligent control technique is used to approximate the unknown nonlinearities, the event-triggered control strategy following the switching thresholds is introduced to save unnecessary communication resources, and the computation burden is eliminated by means of the dynamic surface technique. It is proved that all signals of the closed-loop systems are bounded in probability and the tracking errors asymptotically converge to zero in probability. Finally, the simulation results illustrate the validity of the proposed scheme. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Impact Statement</i> —In nature, there are a lot of interesting movements of multi-agents. In this paper, the multi-agent stochastic pure-feedback nonlinear systems over sign digraph is considered. How to handle the nonaffine structure and unknown control gains for the studied systems under interest is a difficult issue. Therefore, the mean value theorem and the Nussbaum functions are used to overcome the difficulty of designing controllers. The bipartition problem with the structurally unbalanced sign digraph is another design difficulty, then we propose the ACOS in the controller design process. In addition, the controllers designed in this paper, which are constructed by applying the backstepping method, event-triggered control strategy, and dynamic surface technique, can save the unnecessary communication resources and alleviate computation burden. Finally, the simulation results illustrate the validity of the proposed scheme.