Adaptive Event-Triggered Output Feedback Control for Nonlinear Multiagent Systems Using Output Information Only

In this article, we research the output feedback consensus tracking control problem of nonlinear multiagent systems with unknown disturbance under event-triggered communication. An event-triggered mechanism with dynamic threshold utilizing only output information is proposed to reduce the controller updates and communication load between neighboring agent. This mechanism is combined with the state and disturbance observer to derive an output feedback-based adaptive backstepping event-triggered control protocol via dynamic filtering technique, which avoids the differentiation of virtual control protocol and eliminates Zeno behavior. Based on Lyapunov stability theory, it is proven that all signals of the closed-loop systems are bounded and output consensus tracking can be achieved. The effectiveness of the proposed control scheme is verified via a physical system example.