Distributed Adaptive Leaderless Consensus of Uncertain Nonlinear Multi-Agent Systems under Event-Triggered Communication with Positive MIETs
Xiangkai Wu, Jiang Long, Jiajun Shen, Wei Wang · 2024
In this paper, leaderless consensus control is investigated for uncertain nonlinear systems with event-triggered communication. Different from the existing results, exponential leaderless consensus is achieved under directed graphs with a positive minimum inter-event time (MIET) guaranteed for each agent. The main challenge lies in the cross-coupling term associated with asymmetric Laplacian matrix and the unknown parameters of all the agents in the derivative of Lyapunov function. To address this issue, a novel distributed event-triggered control scheme is presented to eliminate this term by applying adaptive invariance and immersion control. Besides, concurrent learning control is incorporated in the design of the controllers to ensure a positive MIET for each agent by achieving exponentially convergent rate for the parameter estimation errors. It is proved that all the closed-loop signals are globally uniformly bounded and exponential leaderless consensus can be reached. Moreover, a positive MIET can be guaranteed for each agent. Finally, an illustrative simulation is provided to illustrate the effectiveness of the presented control scheme.