Observer-Based Adaptive Consensus for Lipschitz Nonlinear Multiagent Systems via Asynchronous Event-Triggered Strategy

This article investigates the event-triggered (ET) consensus issue of Lipschitz nonlinear multiagent systems (MASs) with a positive minimum inter-event time (MIET) in the presence of unmeasurable state. To handle this issue, we design a fully distributed control scheme by virtue of asynchronous event-triggered mechanism (ETM) and available local measurement output, in which the knowledge of global information is no longer required by introducing adaptive parameters. It is shown that under the proposed control scheme, the consensus is asymptotically realized, in which the local state observer is proposed to remove the requirement of full-state information. Besides, a dynamic variable is introduced to obtain a positive MIET in the proposed ETM, where each agent asynchronously sends its observer value to its neighbors based on intermittent communication. In light of consensus analysis and MASs dynamics, a novel estimator of the observer is designed to ensure the asymptotic consensus. Note that based on the reformulated Lipschitz property, the linear matrix inequality (LMI) conditions of the control design are less restrictive as compared with the exist results. A practice simulation example is presented to verify the theoretical results. Note to Practitioners —Some practical (such as manipulator and pendulum) control systems can be modeled as Lipschitz nonlinear MASs. If the information exchange determined by ETM is high-frequency, it is unsuitable for physical implementation because each agent has limited communication resource. Thus, it is significant to design ETM with a positive MIET guarantees. Besides, the asynchronous communication among neighbors is more distributed compared with the synchronous communication, which might significantly save the communication resource. The reformulated Lipschitz property is introduced to reduce conservatism of the LMI conditions in the existing results. It might be difficult to measure the full-state information of each agent in some situations owing to physical limitations. Therefore, an observer-based adaptive asynchronous ET control scheme is proposed for Lipschitz nonlinear MASs with unmeasurable state, which can guarantee asymptotic convergence and a positive MIET. Finally, a one-link manipulator with revolute joints is considered to demonstrate the effectiveness of the proposed algorithm.