Distributed Event-Triggered Leader-Follower Consensus of Nonlinear Multi-Agent Systems

2022/09/14 by Marchand, Mathieu, Andrieu, Vincent, Bertrand, Sylvain +1
#FOS: Mathematics #Optimization and Control (math.OC)

paper · doi:10.48550/arxiv.2209.06684

Abstract

We consider the distributed leader-follower consensus problem with event-triggered communications. The system under consideration is a non-linear input-affine multi agent system. The agents are assumed to have identical dynamics structure with uncertain parameters and satisfying an incremental stabilisability condition. A distributed control law is proposed which achieves consensus based on two novel Communication Triggering Conditions (CTCs): the first one to achieve an asymptotic consensus but without any guarantees on Zeno behaviour and the second one to exclude Zeno behaviour but with practical consensus.

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