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Distributed Leaderless Consensus Control for Uncertain Multiagent Systems with Event-triggered Communication and Disturbances

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Abstract

In this paper, a distributed leaderless consensus control problem is investigated for uncertain multiagent systems (MASs) with event-triggered (ET) communication and disturbances. To economize the limited communication resources, two ET mechanisms are employed in the controller-to-actuator channel and communication channel respectively. In the controller-to-actuator channel, a novel switching ET mechanism is developed, where the agents can choose the ET strategies arbitrarily in a unified control framework by adjusting a switching parameter. In the communication channel, an improved filter composed of only triggered output signals is presented, which can avoid the transmission of multiple signals between agents and reduce the dispensable data transmission effectively. In the designed filter-based backstepping control framework, the parameter estimation technique is employed to deal with unmatched uncertainties and disturbances problems for high-order nonlinear MASs. By applying the Lyapunov stability method, it is proved that the outputs of agents can reach a leaderless consensus, and the stability of the closed-loop system can be guaranteed. Finally, two simulation examples demonstrate that the proposed control strategy is effective.

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Acknowledgements

This work was partially supported by the National Natural Science Foundation of China (62103108), the Basic Scientific Research Project of the Education Department of Liaoning Provincial (LJKQZ20222437)

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Authors and Affiliations

  1. College of Control Science and Engineering, Bohai University, Jinzhou, 121013, China

    Xiaoyu Yang & Yingnan Pan

  2. College of Mathematical Sciences, Bohai University, Jinzhou, 121013, China

    Liang Cao

  3. College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing, 210037, China

    Qing Lu

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  1. Xiaoyu Yang
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  2. Liang Cao
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  4. Qing Lu
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Contributions

All authors contributed to the study conception and design. Data simulation, manuscript revision and proofreading were performed by Xiaoyu Yang, Liang Cao, Yingnan Pan and Qing Lu. The first draft of the manuscript was written by Xiaoyu Yang and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Correspondence to Liang Cao.

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Liang Cao, Yingnan Pan and Qing Lu contributed equally to this work.

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Yang, X., Cao, L., Pan, Y. et al. Distributed Leaderless Consensus Control for Uncertain Multiagent Systems with Event-triggered Communication and Disturbances. J Intell Robot Syst 108, 48 (2023). https://doi.org/10.1007/s10846-023-01899-y

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