Adaptive Leaderless Consensus for Uncertain High-Order Nonlinear Multiagent Systems With Event-Triggered Communication

This article investigates the leaderless consensus problem for uncertain high-order nonlinear multiagent systems with event-triggered communication. Under a directed graph condition, a fully distributed adaptive control strategy is presented. The main contributions are summarized as follows: 1) globally Lipschitz condition, as required in many existing literatures, is not needed in this article; 2) for each agent, only one filtered output signal is required to be broadcast to its neighbors, which can effectively relieve network transmission burden; 3) the distributed adaptive controllers and event-triggered conditions are co-designed based on a single Lyapunov function such that continuous monitoring of neighbors' states is not needed; and 4) by introducing an exponential convergence term to the designed triggering condition, Zeno behavior is avoided while all the agents' outputs can reach asymptotically leaderless consensus. Moreover, to easily implement the designed triggering condition and further reduce the triggering frequency when the consensus errors converge to the neighborhood of origin, a switching type of triggering condition is presented and bounded consensus can be guaranteed. Simulation results are given to validate the presented distributed consensus control scheme.