Event-triggered Adaptive Output Consensus Tracking Control of Uncertain Nonlinear Multi-agent Systems

This paper investigates the distributed adaptive output consensus tracking problem for uncertain nonlinear multi-agent systems with event-triggered control inputs and event-triggered communication. A new event-based adaptive output consensus tracking scheme is proposed under directed graph condition. To compensate the effects of uncertain external disturbances and event-triggered measurement errors on the close-loop system stability, an additional parameter estimator is introduced in each agent to estimate the unknown lumped parameter consisting of the upper bound of external disturbances and the triggering threshold. Besides, both continuous monitoring of neighbors' states and the information of global parameters are not needed in designing the triggering mechanism. It is shown that all the signals in the closed-loop system are globally uniformly bounded and the desired output consensus tracking can be achieved.