Adaptive Event-triggered Cooperative Tracking Control Under Full-state Constraints Based on Nonlinear Time-varying Multi-agent Systems

An adaptive dynamic surface control (DSC) scheme using event triggering mechanism and barrier Lyapunov function (BLF) to constraint state variables and solve energy saving issues is proposed for multi-agent systems (MASs). Furthermore, invented a control algorithm that uses the event-triggered mechanism for not only decrease the number of information exchanges between agents significantly but also decreased utilization of electricity and communication expenses in the control process. DSC and full-state constraints are used to solve the “complexity explosion” problem of the traditional back-stepping method. Simulation and semi-physical experimental platforms were constructed to verify the proposed algorithm is valid.