Event triggered distributed adaptive consensus control for high-order nonlinear multi-agent systems in presence of system uncertainties

Abstract

In this paper, a novel event-triggered distributed adaptive consensus control strategy has been developed for high-order nonlinear multi-agent systems (MAS) with uncertain system dynamics. Compared with most existing results, proposed approach contributes on two main aspects, i.e. 1) distributed event-triggered control has been developed for a more general high-order nonlinear MAS, and 2) The impacts from practical imperfections, e.g. system uncertainties, have been considered. Firstly, the system uncertainties are considered as bounded with a given upper bound. Through incorporating the upper bound of system uncertainties, a novel distributed event-triggered condition has been developed that can maintain the consensus of uncertain nonlinear MAS. Then, the system uncertainties are considered as unknown completely. A novel event-triggered distributed adaptive consensus control has been developed. For handling the unknown system dynamics, a series of novel distributed adaptive estimators have been designed to learn the system dynamics by using measured system data. Then, using the learnt system, the distributed event-triggered condition can be attained. Lyapunov stability analysis have been adopted to demonstrate the stability of developed novel event-triggered distributed consensus control. Eventually, simulation results are provided to verify the effectiveness of proposed designs.