Event-Triggered Adaptive Consensus Control for Nonlinear Multi-Agent Systems with Prescribed Performance and...

Area of Science:

• Control Systems Engineering
• Networked Systems
• Nonlinear Dynamics

Background:

• Networked nonlinear systems face challenges in achieving synchronization while adhering to performance and state constraints.
• Existing control methods often struggle with simultaneous transient performance and state limitations.

Purpose of the Study:

• To develop a control strategy for networked nonlinear agents that achieves output agreement.
• To simultaneously satisfy transient performance specifications and state limitations.

Main Methods:

• Utilized a performance function to define synchronization deviation envelopes.
• Embedded logarithmic barrier certificates for state constraint enforcement.
• Employed Gaussian radial basis function approximators for unknown nonlinearity compensation.
• Implemented a dynamic triggering rule for aperiodic control signal updates.

Main Results:

• Demonstrated semi-globally uniform boundedness of all closed-loop trajectories via Lyapunov analysis.
• Confirmed synchronization errors adhere to imposed performance limits.
• Verified that state restrictions are never breached.
• Proved that infinitely many triggering attempts cannot accumulate in finite time.

Conclusions:

• The proposed control strategy effectively addresses the output agreement problem for networked nonlinear agents.
• The method guarantees simultaneous satisfaction of performance and state constraints.
• Computational experiments validated the theoretical findings in a multi-agent coordination scenario.