Event-triggered tracking control of stochastic switched multi-agent systems subjected to input saturation

摘要

This paper focuses on the tracking control problem of stochastic nonlinear multi-agent systems subjected to input saturation and directed switching topologies. In addition, the external disturbances are also considered to ensure the system robustness. A dynamic event-triggered consensus scheme based on a switching compensator for every follower agent is proposed via output feedback. By the Lyapunov stability analysis, a sufficient condition for switching signal is obtained such that the tracking errors can reach a small compact set of the origin. Moreover, the proposed event-triggered strategy by fully exploiting the dynamic gain can save resources effectively and avoid the Zeno behavior. Finally, simulation studies confirm the effectiveness of the theoretical results.

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