Observer-based event-triggered leader-following consensus of multi-agents with generalized Lipschitz nonlinear...

Area of Science:

• Control Theory
• Systems Engineering
• Robotics

Background:

• Multi-agent systems (MASs) face challenges in achieving consensus, especially with nonlinear dynamics and limited communication.
• Output feedback control is crucial when full state information is unavailable.
• Event-triggered (ET) strategies aim to reduce communication load but must avoid Zeno behavior.

Purpose of the Study:

• To develop an event-triggered leader-following consensus control scheme for nonlinear MASs with generalized Lipschitz nonlinearities.
• To design distributed observers for state estimation in the absence of direct state measurements.
• To ensure efficient bandwidth utilization and guarantee system stability and tracking consensus.

Main Methods:

• Design of distributed observers for follower state estimation.
• Formulation of an event-triggered control strategy based on estimated states and invariant sets.
• Application of Lyapunov theory to derive sufficient conditions for stability and consensus.
• Development of a decoupling scheme for a less conservative design.

Main Results:

• Guaranteed asymptotic stability of the estimation error.
• Ensured tracking consensus for nonlinear MASs under the proposed ET scheme.
• Demonstrated efficiency in handling ET consensus for a broad class of Lipschitz nonlinearities.
• Validation of the approach using single link robots and modified Chua's circuits.

Conclusions:

• The proposed event-triggered control scheme effectively achieves leader-following consensus in nonlinear MASs.
• The method enhances communication efficiency by utilizing observers and ET strategies while ensuring stability.
• The approach is applicable to a wide range of nonlinear systems, offering a less conservative and more efficient solution.