Event-Triggered Adaptive Tracking Control for Multiagent Systems with Unknown Disturbances

Yanhui Zhang, Jian Sun, Hongjing Liang*, Hongyi Li

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

310 Citations (Scopus)

Abstract

This paper considers the event-triggered tracking control problem of nonlinear multiagent systems with unknown disturbances. The event-triggering mechanism is considered in the controller update, which decreases the amount of communication and reduces the frequency of the controller update in practice. By designing a disturbance observer, the unknown external disturbances are estimated. Moreover, a part of adaptive parameters are only dependent on the number of followers, which weakens the computational burden. It is shown that all the signals are bounded, and the consensus tracking errors are located in a small neighborhood of the origin based on the Lyapunov stability theory and backstepping approach. Finally, the effectiveness of the approach proposed in this paper is proved by simulation results.

Original languageEnglish
Article number8474310
Pages (from-to)890-901
Number of pages12
JournalIEEE Transactions on Cybernetics
Volume50
Issue number3
DOIs
Publication statusPublished - Mar 2020

Keywords

  • Adaptive backstepping control
  • cooperative control
  • disturbance observer
  • event-triggered control

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