Neural-Network-Based Distributed Asynchronous Event-Triggered Consensus Tracking of a Class of Uncertain Nonlinear Multi-Agent Systems

This article proposes a neural-network-based adaptive asynchronous event-triggered design strategy for the distributed consensus tracking of uncertain lower triangular nonlinear multi-agent systems under a directed network. Compared with the existing event-triggered recursive consensus tracking designs using multiple neural networks for each follower and continuous communications among followers, the primary contribution of this study is the development of an asynchronous event-triggered consensus tracking methodology based on a single-neural network for each follower under event-driven intermittent communications among followers. To this end, a distributed event-triggered estimator using neighbors' triggered output information is developed to estimate a leader signal. Subsequently, the estimated leader signal is used to design local trackers. Only a triggering law and a single-neural network are used to design the local tracking law of each follower, irrespective of unmatched unknown nonlinearities. The information of each follower and its neighbors is asynchronously and intermittently communicated through a directed network. Thus, the proposed asynchronous event-triggered tracking scheme can save communicational and computational resources. From the Lyapunov stability theorem, the stability of the entire closed-loop system is analyzed and the comparative simulation results demonstrate the effectiveness of the proposed control strategy.