Fuzzy Adaptive Event-Triggered Consensus Control for Nonlinear Multiagent Systems Under Jointly Connected Switching Networks
针对联合连通切换网络下领导者和高阶导数未知的非线性多智能体系统，提出一种仅需间歇通信的模糊自适应事件触发一致性控制算法，并应用于无人水面艇验证有效性。
This article studies the fuzzy adaptive event-triggered (ET) consensus control issue of nonlinear multiagent systems (NMASs) under jointly connected switching networks. Since the leader and its high-order derivatives are unknown under jointly connected switching networks, a novel distributed ET reference generator equipped with an ET mechanism is constructed to estimate them. Meanwhile, the continuous information transmission among agents is avoided and the network channel utilization is optimized. Subsequently, fuzzy logic systems (FLSs) are employed to approximate unknown dynamics, and a fuzzy adaptive ET consensus control algorithm only using intermittent communication is designed by backstepping control methodology. It is demonstrated that all the closed-loop signals are semi-globally uniformly ultimately bounded (SGUUB), with the tracking errors converging to a small neighborhood around zero. Finally, we apply the developed fuzzy adaptive ET consensus control algorithm to unmanned surface vehicles (USVs), and the simulation results verify the effectiveness of the proposed ET consensus control algorithm.