Observer-Based Dynamic Event-Triggered Control for Multiagent Systems With Time-Varying Delay

• Published in: IEEE transactions on cybernetics Vol. 53; no. 5; pp. 1 - 12
• Main Authors: Cao, Liang, Pan, Yingnan, Liang, Hongjing, Huang, Tingwen
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.05.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Artificial neural networks; Communications systems; Composite neural-network (NN) dynamic surface control (DSC); Control systems; Delay; Delay effects; Delays; Event triggered control; low-gain nonlinear observer; Multiagent systems; multiagent systems (MASs); Neural networks; Nonlinear control; Nonlinear systems; Observers; Output feedback; Switches; switching dynamic event-triggered mechanism (ETM); Time varying control; time-varying input delay; Time-varying systems; Tracking control; Tracking errors
• ISSN: 2168-2267; 2168-2275; 2168-2275
• DOI: 10.1109/TCYB.2022.3226873

This article is concerned with the dynamic event-triggered-based adaptive output-feedback tracking control problem of nonlinear multiagent systems with time-varying input delay. By utilizing the approximation capability of neural network (NN), a low-gain nonlinear observer is first established to estimate the immeasurable states. To mitigate the effect of time-varying input delay, an auxiliary system with communication information is designed to generate the compensation signals. Then, a distributed adaptive composite NN dynamic surface control (DSC) strategy is proposed to acquire the satisfactory tracking accuracy, where the filter errors are compensated by the introduced serial-parallel estimation model. Moreover, an effective switching dynamic event-triggered mechanism is developed to determine the communication instants and reduce the update frequency of the controller. It is proven that the consensus tracking error converges to a residual set of the origin. Finally, simulation results are presented to demonstrate the effectiveness of the proposed composite NN DSC scheme.