Department of Electrical Engineering, Pakistan Institute of Engineering and Applied Sciences (PIEAS), Islamabad, Pakistan.
Institute For Future, School of Automation, Qingdao University, Qingdao 266071, China; School of Mechanical Engineering, Pusan National University, 2 Busandaehak-ro, Geumjeong-gu, Busan 46241, Republic of Korea.
ISA Trans. 2023 Jun;137:98-110. doi: 10.1016/j.isatra.2023.02.003. Epub 2023 Feb 6.
This paper discusses a leader-following consensus problem for nonlinear multi-agent systems (MASs) subjected to generalized Lipschitz-type nonlinearity using output feedback. An event-triggered (ET) leader-following control scheme, based upon estimated states using observers, is proposed for efficient bandwidth utilization by application of invariant sets. Distributed observers are designed to estimate the states of the followers because actual states are not always readily available. Besides, in order to reduce unnecessary data communication among the followers, an ET strategy has been formulated which excludes Zeno behavior as well. Under this proposed scheme, sufficient conditions are formulated using Lyapunov theory. These conditions not only guarantee the asymptotic stability of estimation error, but also ensure the tracking consensus of nonlinear MASs. Further, a simple and less conservative design approach using a decoupling scheme for assuring necessity and sufficiency for the main design approach has also been explored. The decoupling scheme is similar to separation principle for linear systems. Contrary to the existing works, the nonlinear systems considered in this study cover a wide family of Lipschitz nonlinearities, including both globally and locally Lipschitz systems. Moreover, the proposed approach is more efficient in handling ET consensus. Finally, the obtained results are verified with single link robots and modified Chua's circuits.
本文讨论了使用输出反馈的具有广义 Lipschitz 非线性的非线性多智能体系统（MAS）的领导者跟随一致性问题。基于观测器估计状态，提出了一种基于事件触发（ET）的领导者跟随控制方案，通过应用不变集来提高带宽的有效利用率。设计分布式观测器来估计跟随者的状态，因为实际状态并不总是容易获得的。此外，为了减少跟随者之间不必要的数据通信，还制定了一种 ET 策略，该策略还排除了零阶行为。在这个提出的方案中，使用 Lyapunov 理论制定了充分条件。这些条件不仅保证了估计误差的渐近稳定性，而且保证了非线性 MASs 的跟踪一致性。此外，还探索了一种简单且不保守的设计方法，使用解耦方案来保证主要设计方法的必要性和充分性。该解耦方案类似于线性系统的分离原理。与现有工作相比，本文研究的非线性系统涵盖了广泛的 Lipschitz 非线性家族，包括全局和局部 Lipschitz 系统。此外，所提出的方法在处理 ET 一致性方面更有效。最后，通过单连杆机器人和改进的 Chua 电路验证了所获得的结果。
