<p>This work investigates the problem of dual adaptive event-triggered predefined-time consensus control for nonlinear multi-agent systems (MASs) with unknown disturbances. Firstly, an adaptive event-triggered mechanism (AETM) is established in the sensor to controller channel, leveraging the input signal change rate of the AETM to calculate the next triggering instant. Secondly, based on the predefined-time function and the triggered output signal from the sensor, a practical predefined-time extended state observer (PTESO) is proposed to estimate the unknown disturbances and states. Furthermore, a predefined-time consensus control protocol is constructed through the introduction of filtered backstepping techniques, and the second AETM is established in the controller to actuator channel to further conserve communication resources. Then, it is proved that the MASs achieve synchronization within the predefined time while all signals remain bounded. Finally, simulations under directed communication topologies validate the effectiveness of the proposed method.</p>

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Dual-channel adaptive event-triggered predefined-time consensus control for multi-agent systems

  • Jianhui Wang,
  • Zikai Hu,
  • Yue Zhang,
  • C. L. Philip Chen,
  • Zhi Liu,
  • Kairui Chen

摘要

This work investigates the problem of dual adaptive event-triggered predefined-time consensus control for nonlinear multi-agent systems (MASs) with unknown disturbances. Firstly, an adaptive event-triggered mechanism (AETM) is established in the sensor to controller channel, leveraging the input signal change rate of the AETM to calculate the next triggering instant. Secondly, based on the predefined-time function and the triggered output signal from the sensor, a practical predefined-time extended state observer (PTESO) is proposed to estimate the unknown disturbances and states. Furthermore, a predefined-time consensus control protocol is constructed through the introduction of filtered backstepping techniques, and the second AETM is established in the controller to actuator channel to further conserve communication resources. Then, it is proved that the MASs achieve synchronization within the predefined time while all signals remain bounded. Finally, simulations under directed communication topologies validate the effectiveness of the proposed method.