Distributed Adaptive Event‐Triggered Control for Leader‐Following Consensus of Multi‐Agent Systems. Issue 6 (10th May 2017)

• Record Type: Journal Article
• Authors: You, Xiu; Hua, Changchun; Guan, Xinping
• Is Part Of: Asian journal of control. Volume 19:Issue 6(2017)
• Page Start: 2155
• Page End: 2164
• Publication Date: 2017-05-10
• Subjects: nonlinear multi‐agent systems -- leader‐following consensus -- event‐triggered control -- distributed control -- adaptive control; Automatic control -- Periodicals; Control theory -- Periodicals; 629.805
• DOI: 10.1002/asjc.1516
• Languages: English
• ISSNs: 1561-8625

Abstract

Abstract: This paper studies the leader‐following consensus problem for Lipschitz nonlinear multi‐agent systems using novel event‐triggered controllers. A distributed adaptive law is introduced for the event‐based control strategy design such that the proposed controllers are independent of system parameters and only use the relative states of neighboring agents, and hence are fully distributed. Due to the introduction of an event‐triggered control scheme, the controller of the agent is only triggered at it's own event times, and thus reduces the amount of communication between controller and actuator and lowers the frequency of controller updates in practice. Based on a quadratic Lyapunov function, the event condition which uses only neighbor information and local computation at trigger instants is established. Infinite triggers within a finite time are also verified to be impossible. The effectiveness of the theoretical results are illustrated through simulation examples.