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Event-Triggered Consensus Tracking for Time-Delay Multi-Agent Systems with Input Saturation Via Dynamic Output Feedback

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Abstract

This paper considers the leader-following consensus tracking problem for nonlinear multi-agent systems with time-delay, input saturation and external disturbances via an event-triggered strategy. The agents’ dynamics considered in this paper are high-order and have a strict-feedback form. It is assumed that the interconnected graph of multiple agents has a directed spanning tree. A distributed output-feedback event-triggered controller is proposed based on a dynamic gain compensator for each follower agent, such that consensus tracking can be achieved. To deal with the input saturation, the unknown lower bound of the saturation degree is estimated adaptively. To eliminate the effects of time delays, the Lyapunov-Krasovskii functional is applied. By Lyapunov stability analysis, it is ensured that the consensus tracking error converges to a bounded neighborhood of the origin. Finally, a simulation example is given to validate the theoretical results.

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Acknowledgements

The authors would like to thank Three Gorges Mathematical Research Center for supporting this research.

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Authors and Affiliations

  1. Three Gorges Mathematical Research Center, China Three Gorges University, Yichang, 443002, China

    Wangjiang Li & Hui Yu

  2. College of Science, China Three Gorges University, Yichang, 443002, China

    Wangjiang Li & Hui Yu

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  1. Wangjiang Li
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  2. Hui Yu
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All authors contributed to the study conception and design. Material preparation, data collection, analysis and manuscript was provided by Wangjiang Li, and Hui Yu reviewed and edited the manuscript. All authors read and approved the final manuscript.

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Correspondence to Hui Yu.

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Li, W., Yu, H. Event-Triggered Consensus Tracking for Time-Delay Multi-Agent Systems with Input Saturation Via Dynamic Output Feedback. J Intell Robot Syst 109, 52 (2023). https://doi.org/10.1007/s10846-023-01982-4

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