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<p>For the high-order fully actuated (HOFA) nonlinear multi-agent systems, this paper develops novel double-event triggering mechanism (DETM) and aperiodic event-triggering mechanism (AETM) to compensate internal nonlinearities with a fast compensation frequency, while seeking consensus among agents with a low communication frequency. By employing HOFA system approach, the system nonlinearities is internally compensated, resulting in a linearized multi-agent system model that facilitates consensus analysis. Then, a fully distributed control protocol including DETM and AETM is designed to achieve consensus while avoiding using any global information. Compared with existing results, the main advantage of the proposed DETM and AETM is holding joint character even in case of fully distributed control, which specifies the prioritization of compensation triggering condition and communication triggering condition, such that the communication sequence is always a subset of compensation sequence. Finally, an example illustrates the effectiveness of the proposed control protocol.</p>

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Adaptive double-event triggering control for high-order fully actuated nonlinear multi-agent systems

  • 期刊论文

  • 发表日期：

    2025年7月16日

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  • Hailong Cui,
  • Guanglei Zhao,
  • Changchun Hua,
  • Ruixue Cui,
  • Weili Ding

摘要

For the high-order fully actuated (HOFA) nonlinear multi-agent systems, this paper develops novel double-event triggering mechanism (DETM) and aperiodic event-triggering mechanism (AETM) to compensate internal nonlinearities with a fast compensation frequency, while seeking consensus among agents with a low communication frequency. By employing HOFA system approach, the system nonlinearities is internally compensated, resulting in a linearized multi-agent system model that facilitates consensus analysis. Then, a fully distributed control protocol including DETM and AETM is designed to achieve consensus while avoiding using any global information. Compared with existing results, the main advantage of the proposed DETM and AETM is holding joint character even in case of fully distributed control, which specifies the prioritization of compensation triggering condition and communication triggering condition, such that the communication sequence is always a subset of compensation sequence. Finally, an example illustrates the effectiveness of the proposed control protocol.