Adaptive Variable-Period Event-Triggered Control for High-Order Fully Actuated Nonlinear Multi-Agent Systems

For the high-order fully actuated (HOFA) nonlinear multi-agent systems (MASs) subject to measurement noises, this paper develops a novel fully distributed variable-period event-triggering mechanism (VPETM), aiming at reducing network resources consumption and node energy consumption. By means of the HOFA system approach, the nonlinearities are preeliminated inside agent, so that the consensus problem can be simplified by converting the nonlinear system to a linear system, which avoids sacrificing closed-loop consensus performance of MAS to address nonlinearities. Then, a VPETM is proposed for the HOFA nonlinear MASs, that can be independent of any global topology information while avoiding continuous sensor measurements and hardware monitors. Moreover, under a mild condition that the measurement noises allow to be not differentiable everywhere, the proposed control protocol can be robust to this problem. A numerical example is provided in the simulation results to testify the control effectiveness.