Self‐triggered control for multi‐agent systems with unknown non‐linear inherent dynamics
Michaël Defoort, S. Di Gennaro, Mohamed Djemaï · IET Control Theory and Applications · 2014
This study focuses on the design of self‐triggered controls for first‐order multi‐agent systems with unknown inherent non‐linear dynamics. First, conditions that guarantee the existence of a self‐triggered control are provided to solve the consensus problem under fixed communication topologies if the graph has a directed spanning tree. Then, self‐triggered strategy under switching communication topologies is studied using polynomial approximations of multiple Lyapunov functions. A methodology for the computation of the feedback gain and the control update time is given. Simulation results show the effectiveness of the proposed strategy.