Event-triggered adaptive tracking control for high-order multi-agent systems with unknown control directions

Zhixu Du, Hong Xue, Choon Ki Ahn, Hongjing Liang

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


In this article, an event-triggered adaptive control strategy is presented for nonlinear pure-feedback multi-agent systems, and the problem of the unknown control gain is also considered. In contrast to most of the existing results, each agent's control item is a power exponential function, and this problem is handled by utilizing the “adding a power integrator" technique. Based on the Nussbaum gain technique, a control scheme is presented to handle the problem concerning unknown control gains. The tracking differentiator is used to eliminate the problem of “explosion of complexity” in the backstepping method. Furthermore, an event-triggered control strategy is designed to reduce the communication burden and the computational cost. It is proved via the Lyapunov stability method that the consensus tracking errors can converge to a small neighborhood of the origin and all signals of the closed-loop systems are semi-globally uniformly ultimately bounded. Finally, some simulation results are proposed to verify the effectiveness of the theoretical results.

Original languageEnglish
Pages (from-to)8937-8960
Number of pages24
JournalInternational Journal of Robust and Nonlinear Control
Issue number18
Publication statusPublished - 2021 Dec


  • adaptive control
  • event-triggered scheme
  • power exponential function
  • unknown control directions

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Chemical Engineering(all)
  • Biomedical Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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