Cooperative Controller Design for Nonlinear Multi-Agent Systems via Observer-Based Event-Triggered Scheme

The Event-triggering protocol is addressed for nonlinear multi-agent systems bas ed on nonlinear observer. It is assumed that the agents have affine nonlinear dynamics. Th e proposed observer has nonlinear dynamics. Compared to other research that concentrates on the event-triggered controller for both linear multi-input multi-output and multi-agent sy stems, the proposed methodology deals with event-triggered controllers for nonlinear multiagent systems.To decrease unnecessary information transportations, an event-triggered techni que with state-independent threshold is involved to update the control input law. The trigg ering mechanism guarantees both the acceptable performance and the stability of the overal l system. The observer is recommended 1) to decrease the hardware and sensors, 2) to ap proximate the relative full states in order to reach the overall leader-follower consensus. th e focal merits of the proposed methodology are 1) convergence of the observer error to ze ro, 2) convergence of the leader-follower consensus error to zero, 3) decreasing unnecessar y data in proposed topology, and 4) stability of the closed loop multi agent system. The p roposed methodology is applied on applicable dynamics and the simulation results elaborate the promising presentation of the methodological analysis.