Adaptive Event-Triggered Consensus Tracking Control Schemes for Uncertain Constrained Nonlinear Multi-Agent Systems
Xiaomei Wang, Ben Niu, Jiaming Zhang, Huanqing Wang, Yuqiang Jiang, Ding Wang
Abstract
The majority of the results on constrained nonlinear multi-agent systems (MASs) control focused on output or state constraints without considering the saving of communication resources. In this paper, for a class of uncertain nonlinear MASs, we first present a new adaptive bounded consensus tracking control scheme in which the asymmetric and full-state constraints are jointly synthesized with a switching threshold event-triggered strategy, such that the communication resources are effectively utilized. The key to accomplishing the asymmetric and full-state constraints is that a kind of improved <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$tan$</tex-math> </inline-formula> -type barrier Lyapunov functions are constructed. The controller constructed for each agent by the switching threshold event-triggered strategy guarantees that the asymmetric and full-state constraints are not violated and the output of each agent can track the leader’s trajectory with an adjustable bounded tracking error. Furthermore, to achieve the asymptotic consensus tracking control, we give another kind of novel <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$tan$</tex-math> </inline-formula> -type barrier Lyapunov functions to design the desired controller for each agent. A simulation example of five single-link robots is proposed to illustrate the effectiveness of our control scheme. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</i> —In this paper, the adaptive bounded consensus tracking control problem is considered for nonlinear MASs subject to full-state constraints, whose models are capable of describing a multitude of critical applications, including the formation of unmanned vehicles and robots. The research on the tracking control problem will be rather complicated yet challenging if the asymmetric and full-state constraints are taken into account in a complex environment. Additionally, the incorporation of an event-triggered mechanism aids in the reduction of communication resource usage, enhancing the ease of implementation and improving the user-friendliness of the proposed control scheme.