ABSTRACT
This paper studies the tracking control problem for a class of uncertain nonlinear multiagent systems under an undirected communication topology. An improved self-triggered mechanism is proposed, which incorporates the performance-based exponential term to address the negative impact of excessive update intervals on the system. Then, an observer-based distributed output feedback control strategy with the improved self-triggered mechanism is proposed to realize the control objective of consensus tracking. Specifically, a reference generator is presented, so that the control strategy only needs to obtain communication information from the reference generator. By applying filtered high-gain observers, immeasurable states are estimated, and the sensitivity to measurement noise is reduced. Finally, a numerical simulation is carried out to prove the effectiveness of the proposed control scheme.
International Journal of Robust and Nonlinear Control, EarlyView. Read More
