Event-triggered adaptive fuzzy distributed tracking control for uncertain nonlinear multi-agent systems

摘要

This paper investigates the issue of distributed adaptive output consensus tracking control for uncertain nonlinear multi-agent systems with undirected graph. It should be mentioned that the reference leader signal is considered to be time-varying and may not be measured. Under the framework of Lyapunov stability theorem and backstepping technique, a novel distributed adaptive consensus control scheme is developed. Under the developed control scheme, each agent can follow the leader if the reference signal can be obtained directly, and the leader signal is estimated to be available if it can not be measured directly. In addition, the controller update is event-driven under well-established event-triggered mechanism, which decreases the communication burden between the agents and the controllers. Finally, with the help of the proposed control strategy, all closed-loop signals are ensured to be bounded and the output consensus tracking aim is achieved. Simulation example verifies the effectiveness of our proposed scheme. (C) 2019 Elsevier B.V. All rights reserved.