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Event-triggered surrounding adaptive control of nonlinear multi-agent systems.

Haleh Babazadeh1, Mahdi Baradarannia1, Farzad Hashemzadeh1

  • 1Control Engineering Department, Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz, Iran.

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|October 25, 2021
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Summary

This study introduces an event-triggered control method for nonlinear multi-agent systems with unknown parameters. The approach conserves communication resources by reducing data exchange, ensuring system stability and performance.

Keywords:
Adaptive event-triggered controlMulti-agent systemsSurrounding control

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Area of Science:

  • Control Theory
  • Robotics
  • Networked Systems

Background:

  • Multi-agent systems (MAS) with heterogeneous dynamics and unknown parameters present significant control challenges.
  • Efficient communication strategies are crucial for resource-constrained MAS, particularly in leader-follower formations.
  • Event-triggered control offers a promising approach to reduce communication load compared to traditional time-triggered methods.

Purpose of the Study:

  • To develop an adaptive event-triggered control strategy for nonlinear multi-agent systems with heterogeneous dynamics and unknown parameters.
  • To design controllers that estimate the leaders' geometric center for follower coordination.
  • To reduce inter-agent communication and controller updates while ensuring system stability and performance.

Main Methods:

  • Adaptive control laws are designed to handle unknown parameters in both leader and follower agents.
  • An event-triggered estimator for the leaders' geometric center is incorporated into the control protocol.
  • The control scheme guarantees global boundedness of closed-loop signals and exponential convergence of the surrounding error.

Main Results:

  • The proposed event-triggered control scheme ensures that all closed-loop signals remain globally bounded.
  • The surrounding error converges exponentially to a compact set, demonstrating effective formation control.
  • Zeno behavior is avoided under specific conditions, ensuring practical implementation.

Conclusions:

  • The developed adaptive event-triggered control method effectively manages nonlinear multi-agent systems with uncertainties.
  • The strategy significantly reduces communication load and controller updates, optimizing resource utilization.
  • Numerical simulations validate the theoretical findings, confirming the efficacy and efficiency of the proposed approach.