Adaptive event-triggered output-feedback consensus tracking control for switched multi-agent systems

The adaptive event-triggered output-feedback bounded consensus tracking control for switched multi-agent systems (MASs) with input saturations is addressed based on neural network (NN) and dynamic surface control (DSC) strategy. Firstly, the nonlinear smooth functions are introduced to approximate the saturated control inputs, which solves the difficult problem of controller construction. The NN switched state observers are established to estimate the unmeasured states, and the explosion of complexity is avoided by introducing DSC. Secondly, the newly designed asynchronous errors compensation functions are introduced into the adaptive controllers and event-triggered mechanisms, which can reduce the communication burden and effectively deal with the mismatches between controllers and subsystems effectively. It is verified that the proposed control scheme ensures that all closed-loop signals are locally bounded and the outputs of all agents can track a common reference signal under average dwell time (ADT). Finally, the simulation results of single-link manipulators demonstrate the effectiveness of this scheme.