Distributed adaptive consensus tracking for uncertain high-order nonlinear multiagent systems with event-triggered communication

This article investigates the distributed adaptive consensus tracking control problem for a class of high-order nonlinear multiagent systems with unmodeled system dynamics, uncertain external disturbances, and event-triggered communication. Under an undirected graph condition, a robust distributed adaptive consensus control scheme is proposed. To deal with the lumped system uncertainties involved in each agent, adaptive compensation techniques are adopted. Moreover, by designing a triggering condition for each agent, which only relies on individual states' changing rates, continuous monitoring of neighboring states can be avoided. It is shown that with the proposed control scheme, all the closed-loop signals are globally uniformly bounded and all the agents' outputs can track the desired trajectory with adjustable tracking errors. Meanwhile, Zeno behavior is excluded in each agent.