Distributed Event-Triggered Leader-Follower Consensus of Nonlinear Multi-Agent Systems
Optimization and Control
2023-03-06 v4
Abstract
We consider the distributed leader-follower consensus problem with event-triggered communications. The system under consideration is a non-linear input-affine multi agent system. The agents are assumed to have identical dynamics structure with uncertain parameters and satisfying an incremental stabilisability condition. A distributed control law is proposed which achieves consensus based on two novel Communication Triggering Conditions (CTCs): the first one to achieve an asymptotic consensus but without any guarantees on Zeno behaviour and the second one to exclude Zeno behaviour but with practical consensus.
Cite
@article{arxiv.2209.06684,
title = {Distributed Event-Triggered Leader-Follower Consensus of Nonlinear Multi-Agent Systems},
author = {Mathieu Marchand and Vincent Andrieu and Sylvain Bertrand and Hélène Piet-Lahanier},
journal= {arXiv preprint arXiv:2209.06684},
year = {2023}
}
Comments
9 pages, 4 figures, 3 tables