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Tracking consensus for uncertain nonlinear multi-agent systems under cloud-based event-triggered coordination
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DOI：10.1002/rnc.6879.png)
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Abstract
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This paper considers the cloud-based event-triggered coordination problem of uncertain high-order nonlinear multi-agent systems. The communication among agents is realized by indirect and asynchronous access to a shared cloud database. A self-triggered extended state observer (ESO) is first designed to estimate the total uncertainty. Based on the output of the ESO, an event-triggered controller is proposed. It is proved that under the proposed output feedback controller, the multi-agent system can track a virtual leader. We also show that Zeno behavior from output sampling or controller update will never happen. Finally, a numerical example and a vehicle platoon example are provided to corroborate the obtained theoretical results.
Keywords:
cloud-based control
multi-agent systems
output feedback control
self-triggered extended state observer
uncertain high-order nonlinear systems
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