Self-Triggered Leader-Following Consensus for High-Order Nonlinear Multiagent Systems via Dynamic Output Feedback Control
针对高阶非线性多智能体系统，提出一种仅需邻居输出信息的自触发一致性协议，避免连续通信，降低通信成本，并给出保证指数一致性的矩阵不等式条件。
This paper investigates the event-based leader-following consensus problem for high-order nonlinear multiagent systems whose dynamics are in strict feedback forms and satisfy Lipschitz condition. By using self-triggered control scheme and dynamic output feedback control method in combination, a new class of distributed self-triggered consensus protocols is proposed based only on the relative output measurements of neighboring agents. It is noted that the proposed protocols only require the output information of neighboring agents to be shared and the designed self-triggered algorithm can avoid continuous communication among neighboring agents, thus the communication cost is reduced significantly. Sufficient conditions in terms of matrix inequalities are derived to guarantee the exponential leader-following consensus. The effectiveness of the theoretical results is illustrated through a simulation example.