带有执行器饱和的非线性多智能体事件触发一致性控制OA

A distributed control method based on event-triggered was proposed to address the leader-fol-lowing consensus problem of multi-agent systems with one-sided Lipschitz dynamics,uncertainties,time delays and actuator saturation.Firstly,the nonlinear dynamics of the system was addressed through the one-sided Lipschitz condition and quadratic inner-boundedness method,while the actuator saturation characteristics was characterized using the convex hull representation method,and a distributed control protocol and event-triggered mechanism were designed.Secondly,by constructing a Lyapunov function,the achievement of leader-following consensus with constraints of time delays,uncertainties,and actuator saturation was proven.The controller gains were further obtained through linearization,and the consensus domain was estimated in the form of linear matrix inequalities.Finally,the existence of a strictly positive lower bound for all followers' triggering intervals was proven,through which Zeno behavior was effectively avoided,and the effectiveness of the proposed method was validated through numerical simulations.