Event‐triggered leader‐follower tracking control for interconnected systems

Abstract

This article considers the event-triggered leader-follower tracking control for interconnected systems with directed communication topology. Different from the existing work, here we consider systems which are physically coupled. We propose a model-based event-triggered tracking control strategy and an event triggering rule with a time-dependent threshold which guarantees that the tracking errors in the systems asymptotically converge to zero. With the proposed event triggering rule, we prove that the system does not exhibit Zeno behavior. As a special case, the proposed event-triggered tracking control strategy is also applied to decoupled multiagent systems. The efficacy of the proposed method is discussed using two simulation examples.

Appointed‐time formation‐containment control for nonlinear multi‐agent networks using sample‐data feedback

“…Proof. The formation-containment forming stage for t ≤ T with protocol (18) has been disclosed in Theorem 2, and we herein prove that protocol (27) can maintain the desired formation-containment control. ▪…”

“…The velocities evolution of UAVs (28) with the appointed time T = 5s under controller (18) under (18), where the settling time is appointed as T = 5s. Corresponding formation-containment errors are denoted by e p i (t) = [e p i1 (t), e p i2 (t), e p i3 (t)] T and e q i (t) = [e q i1 (t), e q i2 (t), e q i3 (t)] T , i ∈ 𝓁 6 .…”

“…The position errors of UAVs (28) with the appointed time T = 5s under controller (18) F I G U R E 8 The velocity errors of UAVs (28) with the appointed time T = 5s under controller (18) F I G U R E 9 The motion traces of UAVs (28) in a 3 − D view with the appointed time T = 5s under controller (18)…”

“…The cooperative control of multi‐agent systems, due to its extensive application in the field of traffic control, multi‐aircraft flying, sensor network and so on, 1‐3 has attracted growing attention from the research community in recent years. Particularly, consensus problems, considered as the fundamental but important problems, are roughly categorized into two classes based on whether there exists a leader in systems, namely, leaderless consensus, 4‐13 and leader‐following consensus (tracking consensus) 14‐19 . Further, if there exist multiple leaders, the problem is converted into a containment problem, whose objective is designing appropriate protocols to ensure that followers are driven to be in the convex hull formed by leaders 20‐23 …”

“…Particularly, consensus problems, considered as the fundamental but important problems, are roughly categorized into two classes based on whether there exists a leader in systems, namely, leaderless consensus, [4][5][6][7][8][9][10][11][12][13] and leader-following consensus (tracking consensus). [14][15][16][17][18][19] Further, if there exist multiple leaders, the problem is converted into a containment problem, whose objective is designing appropriate protocols to ensure that followers are driven to be in the convex hull formed by leaders. [20][21][22][23] On the leader-following problems, a pioneered research was launched by Reference 14, which tackled the pinning control problem for complex networks without assuming symmetry and irreducibility.…”