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Event-Triggered Bounded Consensus Tracking for Second-Order Nonlinear Multi-Agent Systems with Uncertainties
Ying Ma1, Chan Gu1, Yungang Liu2
1School of Electrical and Control Engineering, Shaanxi University of Science and Technology, Xi'an 710016, China.
Entropy (Basel, Switzerland)
|September 28, 2023
Summary
This study introduces an event-triggered adaptive control for nonlinear multi-agent systems (MASs) facing multiple uncertainties. The proposed method ensures stable system performance and accurate tracking, avoiding Zeno behavior for efficient consensus tracking.
Area of Science:
- Control Systems Engineering
- Nonlinear Dynamics
- Robotics and Automation
Background:
- Multi-agent systems (MASs) are crucial for distributed tasks but face challenges from uncertainties.
- Achieving bounded consensus tracking in nonlinear MASs with unknown parameters and disturbances is complex.
- Event-triggered control offers potential for reduced communication and computation in MASs.
Purpose of the Study:
- To develop an event-triggered adaptive control protocol for second-order nonlinear MASs with multiple uncertainties.
- To ensure global uniform boundedness of all signals within the closed-loop system.
- To achieve ultimate boundedness of tracking errors for robust consensus tracking.
Main Methods:
- Design of a novel estimate-based adaptive control protocol incorporating an event-triggering mechanism.
- Mathematical analysis to guarantee the absence of Zeno behavior by establishing a positive lower bound for inter-event intervals.
- Lyapunov stability theory to prove global uniform boundedness of system signals.
Main Results:
- The proposed event-triggered adaptive control protocol effectively manages multiple uncertainties, including unknown control coefficients and external disturbances.
- Zeno behavior is successfully avoided, ensuring practical implementation of the control strategy.
- All closed-loop system signals are proven to be globally uniformly bounded.
- Tracking errors are shown to ultimately converge to a bounded set, demonstrating effective consensus tracking.
Conclusions:
- The developed event-triggered adaptive control strategy provides a robust solution for bounded consensus tracking in uncertain second-order nonlinear MASs.
- The protocol's effectiveness is validated through simulation, showcasing its practical applicability.
- This work contributes to the advancement of efficient and stable control methods for complex multi-agent systems.
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