Adaptive dynamic event-triggered tracking control for nonlinear multiagent systems with reduced-order observers

An adaptive output feedback tracking control problem is investigated based on an improved reduced-order observer for nonlinear multiagent systems under event-triggered mechanism. Firstly, an improved reduced-order observer, which only depends on the relative output information of each follower agent, is proposed to address the problem of unmeasurable states. Different from other observers, it can reduce the computational burden while fully utilizing distributed information. Next, a dynamic event-triggered mechanism is constructed that considers tracking errors in the threshold design. Its advantage is that the trigger frequency can be adjusted according to tracking errors of the system. By using Lyapunov stability theory, the signal of the whole closed-loop system is guaranteed to be stable, and the output of all followers finally tracks the reference signal synchronously. In addition, Zeno behavior is also avoided. Finally, the viability of the designed control method is confirmed by a simulation example.