A Hybrid Triggering Consensus Framework to Nonlinear Multiagent Systems With Local Observer
Yang Wang, Jiuxiang Dong, Fanwei Meng, Ju H. Park · IEEE Transactions on Systems Man and Cybernetics Systems · 2025
This article investigates the leader–follower consensus tracking problem for Lipschitz nonlinear multiagent systems (MASs) with unmeasurable states. To address limitations in communication and sensing resources, a hybrid triggering consensus framework is proposed to reduce redundant transmissions and measurements. First, a local observer is designed to estimate the system state, where output sampling and transmission to the observer are determined by a time-triggered mechanism (TTM). Then, based on the observer and two nonlinear estimators, a fully distributed controller is developed. Communication among neighboring agents is governed by a hybrid triggering mechanism (HTM) that integrates both time-triggered and event-triggered conditions. Notably, the proposed strategy ensures a positive minimum triggering interval (PMTI). The effectiveness of the proposed method is validated on a single-link flexible joint manipulator.