Event-Triggered Consensus Control for Nonlinear Multiagent Systems With Unmeasured State Variables

This article is concerned with event-triggered consensus control for nonlinear multi-agent systems with unknown nonlinear functions, unmatched disturbances, and unmeasured state variables. A novel distributed control algorithm is designed for high-order nonlinear multi-agent systems by using input-driven filters and defining dynamic feedback systems. In addition, the salient features of the proposed control algorithm are highlighted as follows: 1) our proposed control algorithm employs only local information from itself and its neighboring agents, 2) only a binary signal is transmitted to the actuator during the control process, and 3) the proposed control scheme avoids the use of approximate structures and lacks complex calculations. Finally, the simulation of the inverted pendulum verifies the validity of our theoretical findings.