This article investigates the distributed adaptive consensus tracking control problem for a class of high‐order nonlinear multiagent systems with unmodeled system dynamics, uncertain external disturbances, and event‐triggered communication. Under an undirected graph condition, a robust distributed adaptive consensus control scheme is proposed. To deal with the lumped system uncertainties involved in each agent, adaptive compensation techniques are adopted. Moreover, by designing a triggering condition for each agent, which only relies on individual states' changing rates, continuous monitoring of neighboring states can be avoided. It is shown that with the proposed control scheme, all the closed‐loop signals are globally uniformly bounded and all the agents' outputs can track the desired trajectory with adjustable tracking errors. Meanwhile, Zeno behavior is excluded in each agent.

中文翻译：

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具有事件触发通信的不确定高阶非线性多主体系统的分布式自适应共识跟踪

本文研究了一类具有未建模系统动力学，不确定外部干扰和事件触发通信的高阶非线性多主体系统的分布式自适应共识跟踪控制问题。在无向图条件下，提出了一种鲁棒的分布式自适应共识控制方案。为了解决每个代理中涉及的集总系统不确定性，采用了自适应补偿技术。此外，通过为每个代理设计仅依赖于各个州的变化率的触发条件，可以避免对相邻状态的连续监视。结果表明，采用所提出的控制方案，所有闭环信号在全局范围内均一地有界，并且所有代理的输出都可以以可调整的跟踪误差跟踪期望的轨迹。