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Fully Distributed Dynamic Event-triggered Semiglobal Consensus of Multi-agent Uncertain Systems with Input Saturation via Low-gain Feedback

Guanglei Zhao, Zhao Wang, and Xiuwei Fu*
International Journal of Control, Automation, and Systems, vol. 19, no. 4, pp.1451-1460, 2021

Abstract : This paper investigates the event-triggered consensus problem of multi-agent systems with uncertainties and input saturation. First, a fully distributed robust consensus low-gain feedback control strategy is proposed, in which some global information, such as the communication graph and the scale of network, is not needed. Then, by defining an internal dynamic variable to memory the past state, an adaptive dynamic event-triggering mechanism is proposed, which contributes to reducing the usage of communication resources and also does not rely on any global information. Furthermore, Lyapunov-based consensus analysis results are presented, and it is also formally shown that Zeno behavior can be excluded with the proposed consensus protocols. Finally, a numerical example is provided to illustrate the effectiveness of the proposed results.

Keyword : Dynamic event-triggering mechanism, fully distributed control, input saturation, low-gain feedback technique, multi-agent systems.

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