Event-Triggered Distributed Adaptive Leaderless Consensus of Uncertain Heterogenous Nonlinear Multi-Agent Systems

This brief investigates the leaderless consensus control problem for a class of heterogenous uncertain nonlinear multi-agent systems with event-triggered communication. Different from most of currently available results, the system orders of all the agents are allowed to be nonidentical. To address this issue, a novel distributed reference system is first proposed for each agent, by using the discrete outputs of its own and its neighbors. To alleviate the communication burden among the connected agents, a triggering condition without continuous monitoring of neighboring states is designed for each agent to decide when to transmit its output to its neighbors. Then, a fully distributed adaptive backstepping based leaderless consensus control scheme is presented. It is proved that all the closed-loop signals are globally uniformly bounded and the outputs of all the agents can achieve asymptotical average consensus. Besides, Zeno behavior is excluded for each agent. Finally, the effectiveness of the proposed control scheme is verified in simulation.