Active disturbance rejection‐based event‐triggered bipartite consensus control for nonaffine nonlinear multiagent systems

• Published in: International journal of robust and nonlinear control Vol. 33; no. 12; pp. 7181 - 7203
• Main Authors: Cao, Zhongwen, Niu, Ben, Zong, Guangdeng, Zhao, Xudong, Ahmad, Adil M.
• Format: Journal Article
• Language: English
• Published: Bognor Regis Wiley Subscription Services, Inc 01.08.2023
• Subjects: active disturbance rejection; backstepping technique; bipartite consensus control; Complexity; Control systems; Control theory; event‐triggered scheme; Fuzzy logic; Fuzzy systems; Multiagent systems; Neural networks; Nonlinear control; Nonlinear systems; Rejection; Stability analysis; State observers; Tracking errors
• ISSN: 1049-8923; 1099-1239
• DOI: 10.1002/rnc.6746

This article investigates the active disturbance rejection‐based distributed event‐triggered bipartite consensus problem of nonaffine nonlinear multiagent systems with input saturation. To reduce the update frequency of the control signal, an event‐triggered mechanism is employed for each follower. Additionally, the active disturbance rejection technology, as a combination of the extended state observer and the tracking differentiator, is introduced to estimate the uncertainties of the system and address the problem of explosion of complexity in the backstepping design process. Compared with the traditional distributed bipartite consensus schemes using neural networks/fuzzy logic systems, the design complexity of the control law is reduced in the proposed scheme. Meanwhile, the tracking error is maintained within a predefined range via the funnel function. Finally, the stability of the system is proved under the Lyapunov stability analysis theory, and the effectiveness of the proposed strategy is verified via simulation examples.