Observer-Based Event-Triggered Adaptive Control for Nonlinear Multiagent Systems With Unknown States and Disturbances

Based on radial basis function neural networks (RBF NNs) and backstepping techniques, this brief considers the consensus tracking problem for nonlinear semi-strict-feedback multiagent systems with unknown states and disturbances. The adaptive event-triggered control scheme is introduced to decrease the update times of the controller so as to save the limited communication resources. To detect the unknown state, external disturbance, and reduce calculation workload, the state observer and disturbance observer as well as the first-order filter are first jointly constructed. It is shown that all the output signals of followers can uniformly track the reference signal of the leader and all the error signals are uniformly bounded. A simulation example is carried out to further prove the effectiveness of the proposed control scheme.