Adaptive Event-Triggered Heterogeneous Consensus of Leader-Following Multi-Agent Systems With Nonlinear Dynamic Topology

Abstract

Date of Publication: 23 July 2024This paper is interested in the event-triggered leader-following consensus problem for discrete-time multi-agent systems subject to nonlinear dynamic topology. Considering that the on-board resources of each agent are generally limited, a novel adaptive event-triggered strategy is presented in this paper through establishing a nonlinear transformation law of consensus errors, which provides an effective way to weaken the impact of small fluctuations on triggering behaviors after the error systems converge. Then, an interval type-2 fuzzy model is introduced to describe the nonlinear dynamic topology where the dynamic characteristics contain both nonlinear time-varying law and uncertain parameter. In view of the discrepancies in adjacency relationships between different agents, the heterogeneous fuzzy-dependent controllers are employed to further decrease the consensus error. Meanwhile, some sufficient conditions are deduced to solve the designed controllers while ensuring that the consensus of multi-agent systems can be achieved with desired H∞ performance. Ultimately, advantages of the presented leader-following control strategy are illustrated by two examples.Zehui Xiao, Zijing Xiao, Jie Tao, Chang Liu, Peng Shi, and Imre J. Ruda