Event-Triggered Control for a Class of Nonlinear Multiagent Systems With Directed Graph

Edge-Event-Triggered Synchronization for Multi-Agent Systems with Nonlinear Controller Outputs

“…In comparison with traditional periodic sampled-data control, distributed event-triggered control performs data sampling according to the needs of agents, avoiding redundant sampling at unnecessary times, thereby saving system resources. According to the information acquisition methods of the sensors equipped by agents, distributed event-triggered sampling can usually be divided into node-based [34][35][36]38,44,52,53] and edge-based [39][40][41][42][43][45][46][47]54,55]. These two methods are suitable for different scenarios.…”

“…For instance, in the deep sea or deep space, each AUV or spacecraft employs sonar or LiDAR to measure the relative velocity and position between itself and its neighbors to achieve multi-agent coordination goals. In [39,[45][46][47]54,55], all relevant edge state information of each agent is acquired and processed together, which is different from the way of asynchronously acquiring and processing edge state information [40][41][42][43]45]. However, most of the previous results have not considered the controller output nonlinearities.…”

“…The proposed triggering mechanisms can save resources consumed by interaction, and the considered output nonlinear fluctuation can evaluate the impact of communication transmissions and actuator nonlinearities. Although there have been some results on the coordination of nonlinear multi-agent systems based on event-triggered control [45,54,55], the influences of data quantization and actuator nonlinearities on systems have not been considered. Our work evaluates the applicability of event-triggered mechanisms in such scenarios.…”

“…The proposed event-and self-triggered policies take the effects of controller output nonlinearities into account, not only including controllers' inherent nonlinear properties, but also the signal distortion caused by network data transmission. In comparison with edge-based distributed event-triggered control in [39][40][41][42][43][45][46][47]54,55], our policies consider non-ideal digital signal transmission in actual application scenarios, paving the way for digital applications of distributed sampled-data control. 2.…”

Fully Distributed Event-Triggered Containment Control of Uncertain Multiagent Systems

“…Consensus control and tracking control have been widely studied, from linear MASs [1,7,8] to nonlinear MASs [9][10][11]. Event-triggered control technique is also employed to design consensus and tracking controllers for various kinds of MASs [12][13][14][15][16]. Unlike consensus and tracking control, the objective of containment control is that each follower agent enters into the convex hull spanned by leader agents.…”