Improved Extended State Observer-Based Consensus Control for Stochastic Multiagent Systems via Dual-Terminal Event-Triggered Mechanism
针对不确定非线性随机多智能体系统，提出一种基于可调时变增益事件触发扩展状态观测器的双端事件触发一致性控制策略，降低通信负担并保证估计误差和一致性误差有界。
For a class of uncertain nonlinear stochastic multiagent systems, a consensus control strategy is proposed with an adjustable-time-varying-gain-based event-triggered extended state observer (ATVG-ETESO) via dual-terminal event-triggered mechanism (DTETM). The ATVG-ETESO estimates internal uncertainties and external stochastic disturbances. Its adjustable time-varying gain avoids peaking phenomenon at the initial stage and accelerates estimation error convergence. A DTETM with an adaptive threshold reduce communication burdens on both the input and output channels of the ATVG-ETESO. Theoretically, both the ATVG-ETESO estimation errors and the state consensus errors are bounded. Finally, two illustrative simulation examples are given to illustrate the effectiveness of the control strategy.