Coordinated Tracking of a Leader with Bounded Input Using Adaptive Event-Triggered Protocols
Bin Cheng, Zhongkui Li · 2019
This paper considers the distributed event-triggered tracking control problem for multi-agent networks with a leader of unknown control input. The existence of the leader’s nonzero control input makes the multi-agent systems essentially heterogeneous and thus increases the difficulty of designing fully distributed event-based protocols for such networks. To solve this problem, we propose a smooth adaptive event-triggered protocol, under which the tracking error is uniformly ultimately bounded and the Zeno behavior is excluded. Compared to previous related works, the main contribution of this paper is that the proposed adaptive event-based protocol is fully distributed and scalable, since it does not require any global information of the network graph and is independent of the network’s scale. Furthermore, the proposed event-based protocol is able to save limited communication bandwidth and energy resources.