Event-Based Consensus Control to Multi-Agent System By Using Model Free Adaptive Control

This paper considers event-based consensus tracking problem for nonlinear MAS. First, distributed control algorithm is developed. Second, a novel observer-based event-triggering mechanism with dead-zone for each agent are designed. Then, pseudo-partial derivative (PPD) parameters and distributed adaptive controllers are designed, whose information is updated under the violation of the pre-defined event-triggering mechanism, such that the consensus tracking errors of MAS converge to a small residual set around the origin. Last, a simulation example is given to demonstrate the effectiveness of the developed method.