Adaptive Event-Triggered Control for Multi-Agent Systems with State Time-Delays and Full State Constraints

This paper proposes an innovative adaptive event-triggered control strategy for a class of state time-delays nonlinear multi-agent systems (MASs) with full state constraints. Firstly, a performance function is introduced to guarantee the output consensus error remains within a prescribed range. Secondly, by integrating barrier Lyapunov function (BLF) and Lyapunov-Krasovskii (LK) function, a novel Lyapunov function is constructed to ensure that system states satisfy constraint conditions while effectively mitigating the adverse effects of state time-delays. Furthermore, multi-dimensional Taylor networks (MTNs) are employed to approximate unknown nonlinear terms. Thirdly, an event-triggered mechanism is implemented to curtail communication overhead. Theoretical analysis proves that all signals are bounded, the tracking errors fulfill the desired performance requirements in both transient and steady states, and the Zeno phenomenon is excluded. Finally, the effectiveness of the proposed strategy is further validated through three simulation examples.

Nonlinear Dynamics