Event‐triggered adaptive leaderless consensus control for nonlinear multi‐agent systems with unknown backlash‐like hysteresis
Yuan Gong Sun, Peng Jia Shi, Cheng‐Chew Lim · International Journal of Robust and Nonlinear Control · 2021
Abstract This study aims to investigate the problem of event‐triggered adaptive leaderless consensus control for a class of nonlinear multi‐agent systems with unknown backlash‐like hysteresis. Combining adaptive backstepping and event‐triggered control techniques, a distributed event‐triggered adaptive leaderless consensus controller is designed to compensate for the effects of unknown backlash‐like hysteresis and reduce the update frequency of control signals. By the proposed method, we can obtain the desired consensus tracking, ensure the boundedness of all the signals, and exclude the Zeno behavior from the underlying systems. An example of four robotic manipulators is given to show the effectiveness of the new control design scheme.