Distributed event-triggered cooperative saturation control for nonlinear multi-agent systems with time-delay and output constraint

In this paper, the distributed event-triggered (ET) cooperative control problem is concerned for the nonlinear multi-agent systems (MASs) subject to time-delay and output constraint. Different from the traditional static constraint, the output constraint imposed in this paper is dynamic and asymmetric which is more challenging to handle with. A barrier function is employed to deal with the output constraint so that the systems can be converted to the unconstrained form. In order to overcome the time-delay, the Lyapunov-Krasovskii function is considered and a distributed ET consensus controller is designed via backstepping theory. The control signal will be released only if the triggered threshold is violated. Thus, all signals of closed-loop systems are cruelly proved to be bounded. Finally, the proposed control strategy is verified to be effective through a numerical experiment, which ensures the consensus of MASs and reduces communication burden.