Event-Triggered Consensus Control Of Nonlinear Strict Feedback Multi-Agent Systems

The consensus control problem of the nonlinear MASs(Multi-Agent Systems)has broad application prospects in mobile robot systems,UAV flight,sensor networks and other fields,and has become a research hotspot in the field of control.In the actual industrial control process,most linear MASs obtained by linearization of nonlinear systems can only reflect some characteristics of nonlinear systems.Therefore,it is necessary to investigate the consensus control problem of nonlinear MASs to accord with the reality requirements better.The premise of nonlinear MASs to achieve consensus is that each agent can fully exchange information.However,the limited bandwidth will induce the delay in the information transmission.On the other hand,the MASs will subject the noise,actuator fault and external disturbance.Therefore,this paper will consider the event-triggered control method,nonlinear system and external disturbance,and explore the consensus control problem of nonlinear MASs.The main contents are as follows.1.Firstly,based on the event-triggered mechanism,consensus control of MASs with nonlinear strict feedback dynamics and directed graph will be investigated in this paper.By employing high-gain tool,we firstly translate the consensus problem into a stability problem,and then the event-triggered consensus controller is designed through the Riccati equation.Moreover,by using Lyapunov stability theory and Barbalat’s lemma,this chapter proves that,with the action of our controller,state consensus can be reached.In addition,by using the least positive lower bound method,it is proved that the arbitrary trigger interval is strictly greater than zero.Zeno behavior is excluded.Finally,an example is presented to show the effectiveness of the given algorithm.2.Based on 1,the consensus of nonlinear strict-feedback MASs with external disturbance is studied,and the dynamic event-triggered condition is designed.Compared with the static eventtriggered condition,the dynamic variable is introduced to reduce the update frequency of the control protocol and further reduce the energy consumption.Sufficient conditions for system stability are obtained by theoretical analysis.In addition,it is proved that the Zeno behavior does not exist in the system.Finally,the effectiveness of the algorithm is verified by simulation.