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    This study introduces a new event-triggered (ET) funnel tracking control for uncertain nonlinear multiagent systems (MASs). The strategy uses self-regulation and pinning control for efficient, discontinuous signal updates, ensuring system stability.

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    Area of Science:

    • Control Systems Engineering
    • Networked Systems
    • Nonlinear Dynamics

    Background:

    • Multiagent systems (MASs) present challenges in control due to nonlinearity and uncertainty.
    • Existing control strategies often require continuous signal updates, leading to high communication and computational loads.

    Purpose of the Study:

    • To develop an event-triggered (ET) funnel tracking control strategy for uncertain nonlinear MASs.
    • To reduce control signal updates through self-regulation and intermediate triggering.
    • To ensure system stability and performance despite uncertainties and faults.

    Main Methods:

    • A pinning-based self-regulation intermediate event-triggered (ET) funnel tracking control strategy.
    • Backstepping framework for controller design.
    • Self-regulation triggered condition based on tracking error.
    • Funnel method for error restriction.
    • Disturbance observer for fault compensation.

    Main Results:

    • The proposed strategy achieves tracking control using only communication weights, without extra feedback parameters.
    • Discontinuous controller signal updates are enabled via an intermediate triggered signal.
    • The funnel method effectively restricts errors and mitigates control signal impact.
    • Lyapunov stability theorem confirms semiglobally uniformly ultimately bounded (SGUUB) performance for the closed-loop system.

    Conclusions:

    • The developed pinning-based ET funnel tracking control strategy is effective for uncertain nonlinear MASs.
    • The self-regulation and intermediate triggering mechanism significantly reduces control signal burden.
    • The approach ensures robust stability and performance, validated by simulations.