Fuzzy Adaptive Constrained Consensus Tracking of High-Order Multi-agent Networks: A New Event-Triggered Mechanism

Ning Wang, Ying Wang, Guanghui Wen, Maolong Lv, Fan Zhang

Research output: Contribution to journalArticleScientificpeer-review


This article aims to realize event-triggered constrained consensus tracking for high-order nonlinear multiagent networks subject to full-state constraints. The main challenge of achieving such goals lies in the fact that the standard designs [e.g., backstepping, event-triggered control, and barrier Lyapunov functions (BLFs)] successfully developed for low-order dynamics fail to work for high-order dynamics. To tackle these issues, a novel high-order event-triggered mechanism is devised to update the actual control input, lowering the communication and computation burden. More precisely, compared with the conventional event-triggered mechanism, not only the amplitudes of control signals and a fixed threshold are considered but a monotonically decreasing function is introduced to allow a relatively big threshold, while guaranteeing consensus tracking error to be small. Then, a high-order tan-type BLF working for both constrained and unconstrained scenarios is incorporated into the distributed adding-one-power-integrator design for the purpose of confining full states within some compact sets all the time. A finite-time convergent differentiator (FTCD) is introduced to circumvent the ``explosion of complexity.'' The consensus tracking error is shown to eventually converge to a residual set whose size can be adjusted as small as desired through choosing appropriate design parameters. Comparative simulations have been conducted to highlight the superiorities of the developed scheme.

Original languageEnglish
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Publication statusAccepted/In press - 2022


  • Backstepping
  • Event-triggered control (ETC)
  • full-state constraints
  • high-order multiagent networks
  • Laplace equations
  • Lyapunov methods
  • Navigation
  • Standards
  • Task analysis
  • Upper bound


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