Decentralized event-triggered cooperative control for multi-agent systems with uncertain dynamics using local estimators

This paper presents a decentralized event triggered cooperative control design for uncertain multi-agent systems under limited communication resources. A local estimator is employed by each agent to generate self-state estimates. The estimated states are directly used in the consensus control design, and the estimator parameters are used in the event condition design. Once an event is triggered, the local estimator is repeatedly reset to its corresponding real state values, such that it can stabilize the uncertain dynamical systems without knowing the exact system model parameters. A theorem for this triggering condition is developed to provide stable thresholds that are robust to model uncertainties and guarantee the asymptotical stability by exploiting the M-matrix, algebraic graph theory and the Lyapunov method. It is rigorously proved that the overall system will achieve the consensus and has no zeno behavior under the introduced triggering condition. Simulation results are provided to show the effectiveness of the proposed decentralized event-triggered cooperative control strategy.