Event-Triggered Consensus Tracking for Multiagent Systems With Unknown Time-Varying Control Directions and Input...

Area of Science:

• Control Theory
• Systems Engineering
• Robotics

Background:

• Complex heterogeneous multiagent systems often face challenges with unknown time-varying control directions (CDs) and input delays (UTVDs).
• Existing control strategies may struggle with these uncertainties, leading to performance degradation or instability.

Purpose of the Study:

• To develop an event-triggered consensus tracking control strategy for multiagent systems with fully unknown CDs, UTVDs, and functions.
• To ensure predefined transient and steady-state performance criteria for tracking errors.

Main Methods:

• An auxiliary system was designed to generate a compensation signal for mitigating UTVDs.
• A novel adaptive proportional-integral (PI) control approach was developed using backstepping and Nussbaum functions.
• An event-triggered mechanism was employed to reduce communication and computation load.

Main Results:

• The proposed control strategy guarantees asymptotic tracking and global boundedness of all signals within the closed-loop system.
• The tracking error meets predefined transient and steady-state performance criteria.
• The controller design is simplified and control performance is enhanced without prior knowledge of unknown system functions.

Conclusions:

• The developed event-triggered adaptive PI control approach effectively addresses consensus tracking in complex multiagent systems with significant uncertainties.
• The method offers a practical solution with improved performance and reduced design complexity.
• Simulation results confirm the efficacy and validity of the proposed control strategy.