A Novel Dual-Phase Based Approach for Distributed Event-Triggered Control of Multiagent Systems With Guaranteed...

Area of Science:

• Control Theory
• Robotics
• Systems Engineering

Background:

• Distributed event-triggered control is crucial for multi-agent systems (MASs) with uncertain dynamics.
• Existing methods often require complex computations or prior knowledge of system nonlinearities.
• Guaranteed performance under directed network topologies remains a challenge.

Purpose of the Study:

• To develop a novel dual-phase approach for distributed event-triggered control of uncertain Euler-Lagrange (EL) MASs.
• To ensure guaranteed performance, including tracking accuracy and signal boundedness.
• To reduce computational complexity and avoid the need for system nonlinearity estimation.

Main Methods:

• Design of a fully distributed robust filter for reference signal estimation with guaranteed observation performance.
• Construction of an event-triggered controller using intermittent state feedback for guaranteed tracking performance.
• A co-design scheme that transforms the distributed problem into multiple single-system problems.

Main Results:

• The output tracking error for each agent is guaranteed to converge within a prescribed precision set.
• All internal signals are uniformly bounded, and Zeno behavior is precluded.
• The control scheme requires no a priori knowledge of system nonlinearities or adaptive algorithms.

Conclusions:

• The proposed dual-phase approach offers a computationally efficient and structurally simple solution for event-triggered control in uncertain MASs.
• Guaranteed performance and robustness are achieved under directed topologies.
• The method's effectiveness is validated through numerical simulations.