Distributed Adaptive Cooperative Control for a Class of Nonlinear Multi-Agent Systems via Fully Event-triggered Mechanism

Abstract

In this paper, the distributed cooperative control for a class of nonlinear multi-agent systems connected by undirected graph is investigated. The dynamic of each agent is first order with unknown mismatched parameters and external disturbances. To reduce the communication burden between each agent and decrease the update frequency of the controllers, the fixed threshold event-triggered mechanisms are considered during the states’s broadcasting and the control signals. Based on the adaptive method, the event-based cooperative control protocol is constructed. The asymptotically consensus tracking of all agents are guaranteed and the signals in the closed-loop system are bounded, meanwhile the Zeno behavior is excluded. Simulation results of four agents show the effectiveness and performance of the proposed method.