Event-Triggered Consensus Tracking for Time-Delay Multi-Agent Systems with Input Saturation Via Dynamic Output Feedback

摘要

This paper considers the leader-following consensus tracking problem for nonlinear multi-agent systems with time-delay, input saturation and external disturbances via an event-triggered strategy. The agents' dynamics considered in this paper are high-order and have a strict-feedback form. It is assumed that the interconnected graph of multiple agents has a directed spanning tree. A distributed output-feedback event-triggered controller is proposed based on a dynamic gain compensator for each follower agent, such that consensus tracking can be achieved. To deal with the input saturation, the unknown lower bound of the saturation degree is estimated adaptively. To eliminate the effects of time delays, the Lyapunov-Krasovskii functional is applied. By Lyapunov stability analysis, it is ensured that the consensus tracking error converges to a bounded neighborhood of the origin. Finally, a simulation example is given to validate the theoretical results.

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