Dynamic event-triggered mechanism for practical bipartite tracking consensus of uncertain high-order multi-agent systems under signed switching topologies
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View abstract on PubMed
Summary
This summary is machine-generated.This study achieves practical bipartite tracking consensus in uncertain nonlinear multi-agent systems. A novel dynamic event-triggered controller and extended state observer (ESO) address input saturation and time-varying delays.
Area Of Science
- Control Systems Engineering
- Networked Systems
- Nonlinear Dynamics
Background
- Multi-agent systems (MAS) face challenges like input saturation and time-varying delays.
- Achieving consensus in systems with complex dynamics and switching topologies is difficult.
- Event-triggered control strategies aim to reduce communication and computation load.
Purpose Of The Study
- To develop a control strategy for practical bipartite tracking consensus in uncertain nonlinear high-order MAS.
- To simultaneously address input saturation and time-varying input delay.
- To exclude Zeno behavior in the event-triggered control system.
Main Methods
- An auxiliary system was designed to handle input saturation and time-varying delays.
- A dynamic event-triggered extended state observer (ESO) was developed for state and disturbance estimation.
- Command filtered backstepping combined with ESO states formed the dynamic event-triggered controller.
Main Results
- Practical bipartite tracking consensus was guaranteed under the proposed control strategy.
- The dynamic event-triggered approach successfully excluded Zeno behavior.
- The controller's effectiveness was validated through a numerical example.
Conclusions
- The proposed method effectively achieves practical bipartite tracking consensus for uncertain nonlinear high-order MAS.
- The dynamic event-triggered ESO and controller provide a robust solution for systems with input saturation and time-varying delays.
- The approach offers a practical and efficient way to manage complex multi-agent systems.
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