Observer-based event-triggered leader-following consensus of multi-agents with generalized Lipschitz nonlinear dynamics

This paper discusses a leader-following consensus problem for nonlinear multi-agent systems (MASs) subjected to generalized Lipschitz-type nonlinearity using output feedback. An event-triggered (ET) leader-following control scheme, based upon estimated states using observers, is proposed for efficient bandwidth utilization by application of invariant sets. Distributed observers are designed to estimate the states of the followers because actual states are not always readily available. Besides, in order to reduce unnecessary data communication among the followers, an ET strategy has been formulated which excludes Zeno behavior as well. Under this proposed scheme, sufficient conditions are formu-lated using Lyapunov theory. These conditions not only guarantee the asymptotic stability of estimation error, but also ensure the tracking consensus of nonlinear MASs. Further, a simple and less conservative design approach using a decoupling scheme for assuring necessity and sufficiency for the main design approach has also been explored. The decoupling scheme is similar to separation principle for linear systems. Contrary to the existing works, the nonlinear systems considered in this study cover a wide family of Lipschitz nonlinearities, including both globally and locally Lipschitz systems. Moreover, the proposed approach is more efficient in handling ET consensus. Finally, the obtained results are verified with single link robots and modified Chua's circuits.& COPY; 2023 ISA. Published by Elsevier Ltd. All rights reserved.

Automated summary

This paper discusses the leader-following consensus problem for nonlinear multi-agent systems with generalized Lipschitz-type nonlinearity. An event-triggered control scheme based on estimated states and invariant sets is proposed. Distributed observers are designed to estimate the states of the followers, and an event-triggered strategy is formulated to reduce unnecessary data communication.