Ma Ying, Gu Chan, Liu Yungang, Yu Linzhen, Tang Wei
School of Electrical and Control Engineering, Shaanxi University of Science and Technology, Xi'an 710016, China.
School of Control Science and Engineeringhl, Shandong University, Jinan 250100, China.
Entropy (Basel). 2023 Sep 15;25(9):1335. doi: 10.3390/e25091335.
This paper is concerned with event-triggered bounded consensus tracking for a class of second-order nonlinear multi-agent systems with uncertainties (MASs). Remarkably, the considered MASs allow multiple uncertainties, including unknown control coefficients, parameterized unknown nonlinearities, uncertain external disturbances, and the leader's control input being unknown. In this context, a new estimate-based adaptive control protocol with a triggering mechanism is proposed. We rule out Zeno behavior by testifying that the lower bound on the interval between two consecutive events is positive. It is shown that under the designed protocol, all signals caused by the closed-loop systems are bounded globally uniformly and tracking errors ultimately converge to a bounded set. The effectiveness of the devised control protocol is demonstrated through a simulation example.
本文研究了一类具有不确定性的二阶非线性多智能体系统（MASs）的事件触发有界一致性跟踪问题。值得注意的是，所考虑的MASs允许存在多种不确定性，包括未知控制系数、参数化未知非线性项、不确定外部干扰以及领导者控制输入未知。在此背景下，提出了一种具有触发机制的基于估计的新型自适应控制协议。通过证明两个连续事件之间间隔的下界为正，我们排除了芝诺行为。结果表明，在所设计的协议下，闭环系统产生的所有信号在全局上一致有界，并且跟踪误差最终收敛到一个有界集。通过一个仿真例子验证了所设计控制协议的有效性。
