Event-Triggered Cooperative Exponential Practical Tracking for a Class of Higher-Order Uncertain Nonlinear Multiagent Systems
针对高阶不确定非线性多智能体系统，利用事件触发控制方法设计分布式观测器和自适应控制律，使状态跟踪误差以任意快的指定速率指数收敛到原点附近任意小邻域，并节省通信资源。
In this article, by utilizing the event-triggered control method, we research the cooperative exponential practical tracking problem for a class of higher-order uncertain nonlinear multiagent systems (NMASs). First, for each follower, a distributed event-triggered observer (ETO) is designed to estimate the states of the leader, in which the continuous-time states of its neighbors are not necessary. Thus, the communication resources can be saved. Second, by integrating the distributed ETO and the modified adaptive control technique, an adaptive control law that can be implemented in digital platforms and an event-triggered mechanism are designed to address our problem. Third, for the leader and all followers, the state tracking errors can converge exponentially to any small specified neighborhood of the origin at an arbitrarily fast specified convergence rate. Finally, our result is applied to multiple Van der Pol systems.