Tracking consensus for uncertain nonlinear multi-agent systems under cloud-based event-triggered coordination
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...
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| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
2023
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/171224 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | 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. |
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