Dynamic event-triggered adaptive command filtered control for nonlinear multi-agent systems with input saturation and disturbances

This paper investigates the dynamic event-triggered adaptive command filtered control for the nonlinear high-order multi-agent systems with input saturation and disturbances. By designing a novel dynamic event-triggered adaptive command filtered control, computational burdens have been removed comprehensively. First, a dynamic event-triggered mechanism is designed, which can dynamically adjust the update frequency of controllers to reduce the computational burdens caused by the continuous updates of controllers. Moreover, the proposed approach can save communication resources and improve control performances simultaneously. Second, the command filtered control is studied to remove the computational burdens caused by the repeated differentiation of virtual control signals. Furthermore, input saturation and disturbances are handled concurrently. Finally, simulation results are given to validate the efficacy of the proposed approach.