Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 64, Issue 10, Pages 4321-4328Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2019.2895927
Keywords
Adaptive control; coordinated tracking; event-triggered control; fully distributed control; multiagent systems
Funding
- National Natural Science Foundation of China [61473005, U1713223]
- Beijing Nova Program [2018047]
- Joint Fund of Ministry of Education of China
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This paper studies the distributed event-triggered tracking control problem of general linear multiagent systems with a dynamic leader, whose control input might be nonzero and unknown. The existence of the leader's unknown input renders the network heterogeneous and largely increases the difficulty of designing distributed event-based protocols. To solve this problem, we establish a novel asynchronous edge-based event-triggered mechanism, under which communication is not required from the leader to its out-neighbors (informed followers) or by the edge, unless the embedded triggering functions are triggered. Using this mechanism, we design a static asynchronous edge-based event-triggered protocol and an adaptive one, both of which guarantee the achievement of the leader-follower consensus and the exclusion of the Zeno behavior. Note that the adaptive event-based protocol is fully distributed, requiring no global information of the network topology, such as the network's scale, the smallest nonzero eigenvalue of the Laplacian matrix, and the upper bound of the leader's control input.
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