Observer-Based Dynamic Event-Triggered Tracking Control for Nonlinear MASs with Unknown Time-Varying Sensor Sensitivity

This paper addresses the consensus tracking control problem for nonlinear multi-agent systems with unknown and time-varying sensor sensitivity. To reconstruct the real system state from the inaccurate system input signal, a state observer is designed by using the damaged input signal itself. Then, a dynamic event-triggered strategy is proposed, which incorporates the amplitude of the controller and the hyperbolic tangent function into its triggering conditions. Its advantage lies in avoiding unnecessary information transmission when implementing consistent control, thereby reducing the communication burden. Based on Lyapunov theory, it is rigorously proven that all signals in the closed-loop system are semi-globally uniformly ultimately bounded, effectively eliminating Zeno behavior. Finally, the practical value of the method is proved by an example simulation study.