Dynamic Event-Triggered Control for Persistent Dwell-Time Switched Nonlinear Multiagent Systems With Random Packet Loss

In this article, the dynamic event-triggered control scheme is given to achieve the consensus of a class of nonlinear multiagent systems with switching topologies and random packet loss. Different from the existing works of modeling topology switching in a random way, the persistent dwell-time switching rule is utilized to depict the scenario of topology alterations. To cope with the problem of redundant data transmission, the information interaction between neighboring agents is determined by the up-front design triggering condition. Instead of the conventional static threshold parameter (TP) in the triggering condition, the TP in this article can be adjusted dynamically. This means that the update frequency of the controller can be further optimized. The imperfect matching phenomenon between premise variables about the fuzzy system and controller is also tackled. Moreover, in theory, the packet loss is modeled as a Markov process. Eventually, an application example about the truck-trailer model is presented to express the practicability of the proposed method.

I. Introduction

As a frontier research subject, multiagent systems (MASs) accompanied by strong robustness have attracted remarkable attention [1], [2], [3], [4]. It has shown that MASs consisting of multiple simple agents can accomplish some missions that are challengeable for individuals and improve the efficiency of whole systems. Also, MASs possess great potential in air traffic control [5], coordination of multiple robots [6], smart home [7], and some other fields. In general, the current discussion on MASs mainly concentrates on consensus control, tracking control, formation control, predictive control, and so on. Correspondingly, fruitful relevant results have emerged [8], [9], [10], [11].