Event-Triggered/Self-Triggered Leader-Following Control of Stochastic Nonlinear Multiagent Systems Using High-Gain Method.

In this article, the event-triggered and self-triggered leader-following output-feedback control problems are investigated for a class of high-order stochastic nonlinear multiagent systems (MASs) under an undirected graph. First, using the high-gain method, the observer is designed to estimate the unmeasured state variables of the given nonlinear system. Then, by introducing an internal dynamic variable, a distributed Zeno-free dynamic event-triggered controller is constructed. Compared with the static event-triggering results, the interevent time of the proposed dynamic event-triggering mechanism is shown to be prolonged and, thus, the advantages of the event-triggered control approaches can be enhanced. Further, to avoid continuously monitoring the states, a Zeno-free self-triggering mechanism is given. It is shown that the expectations of the output tracking errors converge to an arbitrarily small set if the diffusion terms are different for all agents, and that the expectations of all state tracking errors converge to an arbitrarily small set if the diffusion terms are the same for all agents. Finally, simulation studies are given to illustrate the effectiveness of the proposed methods.