Output event triggered consensus control of nonlinear multi-agent systems with relative state constraints
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Published on: May 8, 2021
Jian Yang1, Hongjin Zhang2, Hongjun Chu3
1Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China.
Abstract:
The relative state constraints is inevitable in multi-agent systems(MASs) because of limited sensing capabilities of the sensors. In this paper, the consensus problem of nonlinear MASs with relative state constraints is investigated in an edge perspective. First, the consensus problem is proved to be equivalent to a stabilization problem characterized by the edge dynamics. Then the edge system is confined to a hypercube for the satisfaction of relative constraints. Finally, an output event-triggered control protocol that can exponentially stabilize the edge dynamics with constraints is proposed. Sufficient conditions on system stability are provided, the Singular triggering and the Zeno-behaviour are also excluded. A simple learning-based iterative algorithm is proposed to calculate the diagonally dominant matrix, which is crucial to the controller gain design. The effectiveness of the results is illustrated through numerical examples.
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