Event-triggering-based leader-following consensus of second-order multi-agent systems with mismatched disturbances
Jiayi Gong, Fuyong Wang, Zengqiang Chen, Zhongxin Liu · 2022 IEEE 11th Data Driven Control and Learning Systems Conference (DDCLS) · 2022
In this paper, leader-following consensus of second-order multi-agent systems with mismatched disturbances and matched disturbances are discussed. First, a nonlinear disturbance observer is used for each follower to estimate disturbances. Then, distributed event-triggering strategy is designed and Zeno-behavior is excluded. Moreover, based on the disturbance estimation and distributed event-triggering strategy, distributed control law is proposed to guarantee that the states of followers are able to tract the state of single leader. Finally, the effectiveness of the theoretical results are verified by a simulation example.