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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
PubMed
Summary
This summary is machine-generated.

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.

Keywords:
adaptive controlbounded consensus trackingnonlinear multi-agent systems with uncertaintiestriggering mechanism

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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.