Event-triggered cooperative control for uncertain multi-agent systems and applications
Shihao Wang
School of Automation, China University of Geosciences, Wuhan, China
Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, China
Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China
Search for more papers by this authorCorresponding Author
Shiqi Zheng
School of Automation, China University of Geosciences, Wuhan, China
Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, China
Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China
Correspondence Shiqi Zheng, School of Automation, China University of Geosciences, Wuhan 430074, China.
Email: [email protected]
Choon Ki Ahn, School of Electrical Engineering, Korea University, Seoul 136-701, South Korea.
Email: [email protected]
Search for more papers by this authorCorresponding Author
Choon Ki Ahn
School of Electrical Engineering, Korea University, Seoul, South Korea
Correspondence Shiqi Zheng, School of Automation, China University of Geosciences, Wuhan 430074, China.
Email: [email protected]
Choon Ki Ahn, School of Electrical Engineering, Korea University, Seoul 136-701, South Korea.
Email: [email protected]
Search for more papers by this authorPeng Shi
School of Electrical and Electronic Engineering, The University of Adelaide, Adelaide, Australia
Search for more papers by this authorXiaowei Jiang
School of Automation, China University of Geosciences, Wuhan, China
Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, China
Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China
Search for more papers by this authorShihao Wang
School of Automation, China University of Geosciences, Wuhan, China
Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, China
Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China
Search for more papers by this authorCorresponding Author
Shiqi Zheng
School of Automation, China University of Geosciences, Wuhan, China
Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, China
Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China
Correspondence Shiqi Zheng, School of Automation, China University of Geosciences, Wuhan 430074, China.
Email: [email protected]
Choon Ki Ahn, School of Electrical Engineering, Korea University, Seoul 136-701, South Korea.
Email: [email protected]
Search for more papers by this authorCorresponding Author
Choon Ki Ahn
School of Electrical Engineering, Korea University, Seoul, South Korea
Correspondence Shiqi Zheng, School of Automation, China University of Geosciences, Wuhan 430074, China.
Email: [email protected]
Choon Ki Ahn, School of Electrical Engineering, Korea University, Seoul 136-701, South Korea.
Email: [email protected]
Search for more papers by this authorPeng Shi
School of Electrical and Electronic Engineering, The University of Adelaide, Adelaide, Australia
Search for more papers by this authorXiaowei Jiang
School of Automation, China University of Geosciences, Wuhan, China
Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, China
Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, China
Search for more papers by this authorAbstract
This paper investigates the event-triggered cooperative output regulation problem for uncertain multi-agent systems, demonstrating that the output regulation error of the uncertain multi-agent system can converge to a small neighborhood of the origin. The proposed method has several notable features. Firstly, both the leader and follower systems contain unknown parameters, and follower systems can be heterogeneous. Secondly, the controller only requires the relative output of each agent, rather than the absolute output or state. Thirdly, the controller is fully distributed, which implies that it does not rely on any global information. In order to achieve the above purpose, a fully distributed reduced-order observer is proposed with new adaptive laws. Furthermore, new adaptive event-triggered mechanisms are designed on the basis of the neighborhood regulation error (NRE) and the observational regulation error (ORE). Finally, the proposed approach is validated through simulation and experiment on a multi-joint robot manipulator.
CONFLICT OF INTEREST STATEMENT
The authors declare that there is no conflict of interest regarding the publication of this article.
Open Research
DATA AVAILABILITY STATEMENT
Data sharing not applicable to this article as no datasets were generated or analyzed during the current study.
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