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\(L_2\) Leader-Following Consensus of Second-Order Nonlinear Multi-agent Systems with Disturbances Under Directed Topology via Event-Triggered Control Scheme

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Proceedings of 2019 Chinese Intelligent Systems Conference (CISC 2019)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 592))

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Abstract

This paper addresses the \(L_2\) leader-following consensus problem for second-order multi-agent systems with nonlinear dynamics and external disturbances under directed topology. The event-triggered control (ETC) scheme with a new ETC protocol and an event-triggered condition has been introduced. In the control protocol, two parameters which are constrained by the predefined performance index are designed to adjust the convergence rate of the system. Based on the directed graph theory, we construct a Lyapunov function, and then prove theoretically that the system can achieve leader-following consensus without disturbance, and a predefined \(L_2\) gain performance index can be guaranteed under the zero initial condition when disturbances exist. A simulation example is provided to verify the theoretical results.

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Acknowledgments

This work was partially supported by the National Natural Science Foundation of China (No. 61573095 and No. 61705127).

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Authors and Affiliations

  1. College of Information Science and Technology, Donghua University, Shanghai, 201620, China

    Yuanhong Ren, Wuneng Zhou, Zhiwei Li & Yuqing Sun

  2. School of Electronic and Electrical Engineering, Shanghai University of Engineering Science, Shanghai, 201620, China

    Zhiwei Li

Authors
  1. Yuanhong Ren
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  2. Wuneng Zhou
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  3. Zhiwei Li
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  4. Yuqing Sun
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Corresponding author

Correspondence to Wuneng Zhou .

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Editors and Affiliations

  1. Beihang University, Beijing, China

    Yingmin Jia

  2. Beijing University of Posts and Telecommunications, Beijing, China

    Junping Du

  3. University of Science and Technology Beijing, Beijing, China

    Weicun Zhang

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Ren, Y., Zhou, W., Li, Z., Sun, Y. (2020). \(L_2\) Leader-Following Consensus of Second-Order Nonlinear Multi-agent Systems with Disturbances Under Directed Topology via Event-Triggered Control Scheme. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2019 Chinese Intelligent Systems Conference. CISC 2019. Lecture Notes in Electrical Engineering, vol 592. Springer, Singapore. https://doi.org/10.1007/978-981-32-9682-4_15

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