Event-Triggered-Based External Consensus Protocol of RBF-ARX-Model-Based Networked Multiagent Systems with Nonlinear Dynamics and Communication Delays

An event-triggered-based external consensus control protocol with delay compensation for networked multiagent systems (NMASs) with nonlinear dynamics and network-induced delays is discussed in this paper. An RBF-ARX modelling method is adopted to approximate a nonlinear system. By utilizing the RBF-ARX model, the locally linearized time series model can be obtained to describe the behaviour of agents with nonlinear characteristics. An event-triggered control protocol with communication delay compensation is proposed to reduce the effects of network-induced delays and the times of the agent’s control update and communication between others by applying the idea of a prediction strategy. The event-triggered mechanism for each agent only depends on the deviation between its own output and the delay-compensated output of neighboring agents. Then, a distributed event-triggered-based and delay-compensated external consensus control protocol is given. Under this proposed control protocol, both the consensus and stability of the system can be proved. Finally, a numerical simulation is performed to verify the availability of our results.

A New Perspective to Algebraic Characterization on Controllability of Multiagent Systems

Recently, algebraic characterization of multiagent controllability through its topology has been widely concerned by the systems and control community. The controllability of leader-follower networked multiagent systems under the framework of generic linear dynamics is firstly discussed via λ-matrix. Some new algebra-theoretic necessary and/or sufficient conditions of the controllability for generic linear multiagent systems are established. Moreover, the controllable conditions for multiagent networks with special topological graphs through λ-matrix are presented.