Event-Triggered Consensus of Unknown Heterogeneous Multi-Agent Systems with Unmodeled Dynamics under Directed Topology

Abstract

This paper investigates the leader-following output consensus problem of heterogeneous multi-agent systems (MASs) in the presence of unknown parameters and unmodeled dynamics under directed topology. An event-triggered design framework based on the distributed observer and the distributed robust adaptive controller is developed to decouple the leader-following consensus problem of unknown heterogeneous MASs into the cooperative tracking problem of the proposed reference models to the leader system and the local tracking problem of the agents to the reference models. An distributed event-triggering mechanism is developed to avoid continuous communication between neighboring agents. It is shown that under the proposed design framework, the tracking errors between agents and the leader will converge to a residual set. Finally, an example is presented to show the effectiveness of the proposed design framework.