Tracking consensus for uncertain nonlinear multi‐agent systems under cloud‐based event‐triggered coordination

Abstract

AbstractThis paper considers the cloud‐based event‐triggered coordination problem of uncertain high‐order nonlinear multi‐agent systems. The communication among agents is realized by indirect and asynchronous access to a shared cloud database. A self‐triggered extended state observer (ESO) is first designed to estimate the total uncertainty. Based on the output of the ESO, an event‐triggered controller is proposed. It is proved that under the proposed output feedback controller, the multi‐agent system can track a virtual leader. We also show that Zeno behavior from output sampling or controller update will never happen. Finally, a numerical example and a vehicle platoon example are provided to corroborate the obtained theoretical results.