Neural-Network-Based Adaptive Event-Triggered Asymptotically Consensus Tracking Control for Nonlinear Nonstrict-Feedback MASs: An Improved Dynamic Surface Approach.

In this article, the asymptotic tracking control problem for a class of nonlinear multi-agent systems (MASs) is researched by the combination of radial basis function neural networks (RBF NNs) and an improved dynamic surface control (DSC) technology. It's important to emphasize that the MASs studied in this article are nonlinear and nonstrict-feedback systems, where the nonlinear functions are unknown. In order to satisfy the requirement that all items in the controller must be available, the unknown nonlinearities in the system are flexibly approximated by utilizing RBF NNs technique. Moreover, the issue of ``complexity explosion'' in the backstepping procedure is handled by improving the traditional DSC technology, and meanwhile, the influences of the boundary layers caused by the filters in the DSC procedure are eliminated skillfully through the compensation terms. In addition, the relative threshold event-triggered strategy is developed for the designed controllers to reduce the waste of communication resources, where Zeno phenomenon is successfully avoided. It is observed that the new presented control strategy ensures that all the closed-loop systems variables are uniformly ultimately bounded (UUB), and furthermore all the outputs of followers are able to track the output of the leader with zero tracking errors. Finally, the simulation results are presented to show the effectiveness of the obtained design scheme.