Optimal Consensus for High-Order Nonlinear Multi-Agent Systems Based on Event-Triggered Pi Regulation

This paper investigates the optimal consensus problem for high-order nonlinear multi-agent systems over directed networks. A new distributed event-triggered PI (Proportional-integral) variable is first introduced, which transforms the optimal consensus problem into a regulation problem. Furthermore, by using the proposed event-triggered PI variables, we design an optimal consensus algorithm for high-order nonlinear multi-agent systems (MASs) with unknown control directions and bounded disturbances. Finally, the effectiveness of the optimal consensus algorithm is validated through a simulation experiment.