Abstract
This paper investigates the event-triggered containment control problem of a class of uncertain nonlinear multiagent systems (MASs). By employing the local relative information, we design an adaptive event-triggered containment algorithm. The proposed containment algorithm can cope with the unavailability of global topology information and uncertain dynamics of follower agents. Therefore, the presented containment algorithm is free of global topology information, i.e., the designed algorithm is fully distributed. In addition, it is proved that Zeno behavior will not occur. At last, a numerical example is given to verify our event-triggered containment algorithm.
Highlights
During past two decades, cooperative control of multiagent systems (MASs) has been a hot research field for the reason of broad engineering applications, such as formation control [1], attitude alignment [2], mobile sensor networks [3], multirobot systems [4], and so forth [5, 6]
The Laplacian of MASs and the dynamics of follower agents are unavailable to design the containment controllers. To deal with these two unknown data, adaptive techniques are used to design event-triggered containment controllers. e main contributions of this paper are listed as follows: (i) our containment algorithm is fully distributed and does not use any global information of MASs; (ii) our containment algorithm is robust and still works when the dynamics of follower agent is uncertain; and (iii) our presented event-triggered algorithm is free of Zeno behavior
We study eventtriggered containment control problem of uncertain MASs without using any global topology information
Summary
Cooperative control of MASs has been a hot research field for the reason of broad engineering applications, such as formation control [1], attitude alignment [2], mobile sensor networks [3], multirobot systems [4], and so forth [5, 6]. Event-triggered containment control of second-order MASs with sampled position data and time-varying input delays are considered in [21, 22] Rong and her coauthors studied the event-triggered containment control problem for general MIMO linear MASs in [23]. Inspired by the above papers, we study the fully distributed event-triggered containment problem of a class of uncertain MASs. the Laplacian of MASs and the dynamics of follower agents are unavailable to design the containment controllers. E main contributions of this paper are listed as follows: (i) our containment algorithm is fully distributed and does not use any global information of MASs; (ii) our containment algorithm is robust and still works when the dynamics of follower agent is uncertain; and (iii) our presented event-triggered algorithm is free of Zeno behavior To deal with these two unknown data, adaptive techniques are used to design event-triggered containment controllers. e main contributions of this paper are listed as follows: (i) our containment algorithm is fully distributed and does not use any global information of MASs; (ii) our containment algorithm is robust and still works when the dynamics of follower agent is uncertain; and (iii) our presented event-triggered algorithm is free of Zeno behavior
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