Event-triggered consensus of nonlinear multi-agent systems with stochastic switching topology |
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Authors: | Lei Liu Jinjun Shan |
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Institution: | Department of Earth and Space Science and Engineering, York University\n4700 Keele St., Toronto M3J 1P3, Canada |
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Abstract: | This paper is concerned with a leader-follower consensus problem for networked Lipschitz nonlinear multi-agent systems. An event-triggered consensus controller is developed with the consideration of discontinuous state feedback. To further enhance the robustness of the proposed controller, modeling uncertainty and switching topology are also considered in the stability analysis. Meanwhile, a time-delay equivalent approach is adopted to deal with the discrete-time control problem. Particularly, a sufficient condition for the stochastic stabilization of the networked multi-agent systems is proposed based on the Lyapunov functional method. Furthermore, an optimization algorithm is developed to derive the parameters of the controller. Finally, numerical simulation is conducted to demonstrate the effectiveness of the proposed control algorithm. |
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Keywords: | Corresponding author |
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